diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000011.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c03989e540659db92eacdc362dcf7621bd0ac70b
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7145a94bec5ea7d3fd88b7f309a9fe211c0091cb7f4d918e1271f06b6e113072
+size 28111244
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000012.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9cf60edd90afbc6a407af4fc21943982e36e6da2
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c5e47dc89a66a014ad6989ac74cf99626300084e12ccd4b40613e18d5b9ea18
+size 22784432
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000013.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f5b772d3e4417f167aeae742a547f1b5483841c
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a393789be5967d2c3e98678e932ac3f81c4f203da39aa43a9e7ebfbeeecb0db
+size 23521501
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000000.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c38eb020094e7c79fcf62e3d0ea01349a9095359
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cb168668f1d75b103058cd1a253b2fcc9e39412df598ec408d5422dda1e0705
+size 26075106
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000001.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4b782449b6125ed9f52908a64ddea85ea3c3c8a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8966619e6fdb6cd750370a719d1863d4d810dafe7b9716906f035ab4dbb4ea2b
+size 56025999
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000002.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c4a49f4096bc1b18fff30749a32eadde91322f95
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b7798f2635e839d48b8ef48461df9caed1b14ae27480e48577e050eb996ef8a
+size 26089375
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000003.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c7e0922bda3cbfd444649d3bf8176920fe9dc3a8
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0be2943aec5c747359d01c45697ec7293a7102ed00d5c096cf702fde6b94dde
+size 25178080
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000004.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eab44894424b9c9d870b716dfedae30dadb3e483
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:287186132fa8c1730c9e26913e5067a293695183aec9121e49a127e1dd34b539
+size 25431765
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000005.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c0525d649cfcbed4967dffe203441433ec5d266a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8893aa7662dba120c8f0614b9b1b2920ab2a13b6a159bb8dbf93deb973ca55b1
+size 24691190
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000006.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d41956694a5e5c8ea3872a2438bc65c307292428
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f7f535d8107bb47d462d9c1dccbe365f8ae06abbffdd66ddfcb1f511586b402
+size 26716525
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000007.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9767cbe5771ca4bddbafab0a3c5c8fc00eb59337
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bdbbda439e371fc4137bbc4c0694166c6441f1b07a8830329f4ae6d53336ba8
+size 25762083
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000008.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d9ff1c6dc5f0fa766ed64abc788b4b60a61f64d4
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:842caa2fbfa0d86255f46662fa58da9d177ae23cfca95f41200116e65f246259
+size 25327055
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000009.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68b4abcd0668c6e3fe13ff4ba7f73416662279d2
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e85e68eace4465f95a051c4db7bf1ad129e7d84543840276f49ebfae1bbb4ddc
+size 22490313
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000010.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..34696bf8c5613023585bd2ea7c9a30f6f3b197e1
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83a8ac52c3df0f479fcdca4ff84a3c7eee8c3ab3bfe1944e98dd77d38b7bc7cb
+size 26400459
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000011.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..78ba800e4f1cd8657c285420575969a0e2247b3d
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d3123faeacac09a5705b3f22295ac698e62b41f983afe4b90265831bb283c92
+size 25802173
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000012.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee6c0c9ff798597eeafff44a6482e8d4430f837a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c432413932bbcf8ba954077df2ac7127abb80e913124086199a7df4be6a6d0d9
+size 20987632
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000013.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e4a6d8ee7bf2a95f9fbc96888a42ffc4cfe8c52
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eb92e8e3aa6297cbd7fd2b28fe6aa282d6653a2558b6b03b205e97d9e89d95e
+size 21757730
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/data/chunk-000/file-000.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/data/chunk-000/file-000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b1744ae18cc7a3c89ef43d62f394703586ca38c9
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/data/chunk-000/file-000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5815a772844e0f2c07878c386e115d5db844cadc909bcfc166577d0febdac9d
+size 29550784
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/annotation_cache.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/annotation_cache.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a9db3f213f54c9a2dd66be64061e338fb29824be
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/annotation_cache.jsonl
@@ -0,0 +1,14 @@
+{"source_uid": "23e42d6f698f7ae5", "num_frames": 1527, "episode_id": "POC22027_2026_05_06_21_24_02_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_24_02_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_24_02_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_24_02_train/train_0.3.0@2026_05_06_21_24_02.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 259, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 260, "end_step": 664, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 665, "end_step": 1013, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1014, "end_step": 1441, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 259, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 260, "end_step": 664, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 665, "end_step": 1013, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1014, "end_step": 1441, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "607f1bfb0beaa8ae", "num_frames": 3308, "episode_id": "POC22027_2026_05_06_21_25_03_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_25_03_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_25_03_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_25_03_train/train_0.3.0@2026_05_06_21_25_03.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 270, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 721, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 722, "end_step": 1082, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 3193, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 270, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 721, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 722, "end_step": 1082, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 3193, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "7e1673325f90c2a3", "num_frames": 1541, "episode_id": "POC22027_2026_05_06_21_27_04_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_27_04_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_27_04_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_27_04_train/train_0.3.0@2026_05_06_21_27_04.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 265, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 266, "end_step": 667, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 668, "end_step": 1129, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1130, "end_step": 1457, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 265, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 266, "end_step": 667, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 668, "end_step": 1129, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1130, "end_step": 1457, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 2, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
+{"source_uid": "98adb044580e0ae3", "num_frames": 1496, "episode_id": "POC22027_2026_05_06_21_28_13_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_28_13_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_28_13_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_28_13_train/train_0.3.0@2026_05_06_21_28_13.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 272, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 273, "end_step": 624, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 968, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 969, "end_step": 1415, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 272, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 273, "end_step": 624, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 968, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 969, "end_step": 1415, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
+{"source_uid": "9c0bb59bf6651641", "num_frames": 1506, "episode_id": "POC22027_2026_05_06_21_29_11_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_29_11_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_29_11_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_29_11_train/train_0.3.0@2026_05_06_21_29_11.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 281, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 282, "end_step": 721, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 722, "end_step": 1089, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1432, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 281, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 282, "end_step": 721, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 722, "end_step": 1089, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1432, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
+{"source_uid": "0cd7d93177d9ef35", "num_frames": 1456, "episode_id": "POC22027_2026_05_06_21_30_12_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_30_12_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_30_12_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_30_12_train/train_0.3.0@2026_05_06_21_30_12.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 243, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 244, "end_step": 595, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 596, "end_step": 977, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 978, "end_step": 1371, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 243, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 244, "end_step": 595, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 596, "end_step": 977, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 978, "end_step": 1371, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 5, "v40_language_source": "previous_published_lerobot", "episode_index": 5}
+{"source_uid": "49da002c517e8b04", "num_frames": 1581, "episode_id": "POC22027_2026_05_06_21_31_11_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_31_11_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_31_11_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_31_11_train/train_0.3.0@2026_05_06_21_31_11.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 274, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 275, "end_step": 695, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 696, "end_step": 1149, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1497, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 274, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 275, "end_step": 695, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 696, "end_step": 1149, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1497, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 6, "v40_language_source": "previous_published_lerobot", "episode_index": 6}
+{"source_uid": "23c20bce463247de", "num_frames": 1526, "episode_id": "POC22027_2026_05_06_21_32_17_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_32_17_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_32_17_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_32_17_train/train_0.3.0@2026_05_06_21_32_17.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 301, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 302, "end_step": 708, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 1043, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1044, "end_step": 1440, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 301, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 302, "end_step": 708, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 1043, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1044, "end_step": 1440, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 7}
+{"source_uid": "e7211b3d4e507ce2", "num_frames": 1517, "episode_id": "POC22027_2026_05_06_21_33_18_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_33_18_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_33_18_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_33_18_train/train_0.3.0@2026_05_06_21_33_18.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 322, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 323, "end_step": 717, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 1079, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1080, "end_step": 1433, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 322, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 323, "end_step": 717, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 1079, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1080, "end_step": 1433, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 8, "v40_language_source": "previous_published_lerobot", "episode_index": 8}
+{"source_uid": "42c7ec5383350f87", "num_frames": 1329, "episode_id": "POC22027_2026_05_06_21_34_19_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_34_19_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_34_19_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_34_19_train/train_0.3.0@2026_05_06_21_34_19.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 276, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 522, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 819, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 1236, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 276, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 522, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 819, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 1236, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
+{"source_uid": "4c8028a5dd586516", "num_frames": 1562, "episode_id": "POC22027_2026_05_06_21_35_12_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_35_12_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_35_12_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_35_12_train/train_0.3.0@2026_05_06_21_35_12.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 355, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 356, "end_step": 693, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 1082, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1476, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 355, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 356, "end_step": 693, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 1082, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1476, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 10, "v40_language_source": "previous_published_lerobot", "episode_index": 10}
+{"source_uid": "f6fba874908e1cfd", "num_frames": 1536, "episode_id": "POC22027_2026_05_06_21_56_23_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_56_23_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_56_23_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_56_23_train/train_0.3.0@2026_05_06_21_56_23.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 355, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 356, "end_step": 722, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 723, "end_step": 1008, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1009, "end_step": 1436, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 355, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 356, "end_step": 722, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 723, "end_step": 1008, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1009, "end_step": 1436, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 11, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
+{"source_uid": "1cbe09c30b2ed0fe", "num_frames": 1269, "episode_id": "POC22027_2026_05_06_21_57_24_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_57_24_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_57_24_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_57_24_train/train_0.3.0@2026_05_06_21_57_24.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 218, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 219, "end_step": 538, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 539, "end_step": 812, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 813, "end_step": 1190, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 218, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 219, "end_step": 538, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 539, "end_step": 812, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 813, "end_step": 1190, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 12, "v40_language_source": "previous_published_lerobot", "episode_index": 12}
+{"source_uid": "203563bca1b78d1a", "num_frames": 1303, "episode_id": "POC22027_2026_05_06_21_58_18_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_58_18_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_58_18_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_58_18_train/train_0.3.0@2026_05_06_21_58_18.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 261, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 613, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 614, "end_step": 919, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 920, "end_step": 1224, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 261, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 613, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 614, "end_step": 919, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 920, "end_step": 1224, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 13, "v40_language_source": "previous_published_lerobot", "episode_index": 13}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/annotations.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a9db3f213f54c9a2dd66be64061e338fb29824be
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,14 @@
+{"source_uid": "23e42d6f698f7ae5", "num_frames": 1527, "episode_id": "POC22027_2026_05_06_21_24_02_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_24_02_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_24_02_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_24_02_train/train_0.3.0@2026_05_06_21_24_02.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 259, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 260, "end_step": 664, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 665, "end_step": 1013, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1014, "end_step": 1441, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 259, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 260, "end_step": 664, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 665, "end_step": 1013, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1014, "end_step": 1441, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "607f1bfb0beaa8ae", "num_frames": 3308, "episode_id": "POC22027_2026_05_06_21_25_03_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_25_03_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_25_03_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_25_03_train/train_0.3.0@2026_05_06_21_25_03.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 270, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 721, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 722, "end_step": 1082, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 3193, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 270, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 721, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 722, "end_step": 1082, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 3193, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "7e1673325f90c2a3", "num_frames": 1541, "episode_id": "POC22027_2026_05_06_21_27_04_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_27_04_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_27_04_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_27_04_train/train_0.3.0@2026_05_06_21_27_04.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 265, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 266, "end_step": 667, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 668, "end_step": 1129, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1130, "end_step": 1457, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 265, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 266, "end_step": 667, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 668, "end_step": 1129, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1130, "end_step": 1457, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 2, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
+{"source_uid": "98adb044580e0ae3", "num_frames": 1496, "episode_id": "POC22027_2026_05_06_21_28_13_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_28_13_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_28_13_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_28_13_train/train_0.3.0@2026_05_06_21_28_13.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 272, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 273, "end_step": 624, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 968, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 969, "end_step": 1415, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 272, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 273, "end_step": 624, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 968, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 969, "end_step": 1415, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
+{"source_uid": "9c0bb59bf6651641", "num_frames": 1506, "episode_id": "POC22027_2026_05_06_21_29_11_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_29_11_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_29_11_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_29_11_train/train_0.3.0@2026_05_06_21_29_11.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 281, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 282, "end_step": 721, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 722, "end_step": 1089, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1432, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 281, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 282, "end_step": 721, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 722, "end_step": 1089, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1432, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
+{"source_uid": "0cd7d93177d9ef35", "num_frames": 1456, "episode_id": "POC22027_2026_05_06_21_30_12_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_30_12_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_30_12_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_30_12_train/train_0.3.0@2026_05_06_21_30_12.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 243, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 244, "end_step": 595, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 596, "end_step": 977, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 978, "end_step": 1371, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 243, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 244, "end_step": 595, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 596, "end_step": 977, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 978, "end_step": 1371, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 5, "v40_language_source": "previous_published_lerobot", "episode_index": 5}
+{"source_uid": "49da002c517e8b04", "num_frames": 1581, "episode_id": "POC22027_2026_05_06_21_31_11_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_31_11_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_31_11_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_31_11_train/train_0.3.0@2026_05_06_21_31_11.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 274, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 275, "end_step": 695, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 696, "end_step": 1149, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1497, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 274, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 275, "end_step": 695, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 696, "end_step": 1149, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1497, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 6, "v40_language_source": "previous_published_lerobot", "episode_index": 6}
+{"source_uid": "23c20bce463247de", "num_frames": 1526, "episode_id": "POC22027_2026_05_06_21_32_17_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_32_17_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_32_17_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_32_17_train/train_0.3.0@2026_05_06_21_32_17.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 301, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 302, "end_step": 708, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 1043, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1044, "end_step": 1440, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 301, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 302, "end_step": 708, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 1043, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1044, "end_step": 1440, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 7}
+{"source_uid": "e7211b3d4e507ce2", "num_frames": 1517, "episode_id": "POC22027_2026_05_06_21_33_18_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_33_18_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_33_18_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_33_18_train/train_0.3.0@2026_05_06_21_33_18.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 322, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 323, "end_step": 717, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 1079, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1080, "end_step": 1433, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 322, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 323, "end_step": 717, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 1079, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1080, "end_step": 1433, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 8, "v40_language_source": "previous_published_lerobot", "episode_index": 8}
+{"source_uid": "42c7ec5383350f87", "num_frames": 1329, "episode_id": "POC22027_2026_05_06_21_34_19_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_34_19_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_34_19_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_34_19_train/train_0.3.0@2026_05_06_21_34_19.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 276, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 522, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 819, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 1236, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 276, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 522, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 819, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 1236, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
+{"source_uid": "4c8028a5dd586516", "num_frames": 1562, "episode_id": "POC22027_2026_05_06_21_35_12_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_35_12_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_35_12_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_35_12_train/train_0.3.0@2026_05_06_21_35_12.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 355, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 356, "end_step": 693, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 1082, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1476, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 355, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 356, "end_step": 693, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 1082, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1476, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 10, "v40_language_source": "previous_published_lerobot", "episode_index": 10}
+{"source_uid": "f6fba874908e1cfd", "num_frames": 1536, "episode_id": "POC22027_2026_05_06_21_56_23_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_56_23_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_56_23_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_56_23_train/train_0.3.0@2026_05_06_21_56_23.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 355, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 356, "end_step": 722, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 723, "end_step": 1008, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1009, "end_step": 1436, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 355, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 356, "end_step": 722, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 723, "end_step": 1008, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1009, "end_step": 1436, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 11, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
+{"source_uid": "1cbe09c30b2ed0fe", "num_frames": 1269, "episode_id": "POC22027_2026_05_06_21_57_24_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_57_24_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_57_24_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_57_24_train/train_0.3.0@2026_05_06_21_57_24.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 218, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 219, "end_step": 538, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 539, "end_step": 812, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 813, "end_step": 1190, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 218, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 219, "end_step": 538, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 539, "end_step": 812, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 813, "end_step": 1190, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 12, "v40_language_source": "previous_published_lerobot", "episode_index": 12}
+{"source_uid": "203563bca1b78d1a", "num_frames": 1303, "episode_id": "POC22027_2026_05_06_21_58_18_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_58_18_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_58_18_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_21_24_02_train/POC22027_2026_05_06_21_58_18_train/train_0.3.0@2026_05_06_21_58_18.hdf5", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 261, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 613, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 614, "end_step": 919, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 920, "end_step": 1224, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 261, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 613, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 614, "end_step": 919, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 920, "end_step": 1224, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 13, "v40_language_source": "previous_published_lerobot", "episode_index": 13}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c10b219666eba2815e0a2381c8a37f459da9fc06
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:965cfa1c34a1f4093a981e5860242c33597a554c1929bcd0a67f03f523729deb
+size 475524
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/info.json b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec72c8094fd2c5632cf924df887e50a5b16f47db
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "robot",
+    "total_episodes": 14,
+    "total_frames": 22457,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 30,
+    "splits": {
+        "train": "0:14"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                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.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/modality.json b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_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_06_21_24_02_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/stats.json b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0f2a3fd050859f5497a6931435efe5c09b5f022
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
+    "subtask_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            4
+        ],
+        "mean": [
+            1.8350625640112215
+        ],
+        "std": [
+            1.2007974027732176
+        ],
+        "count": [
+            22457
+        ],
+        "q01": [
+            -1e-10
+        ],
+        "q10": [
+            0.14731936123717812
+        ],
+        "q50": [
+            2.1473783849809025
+        ],
+        "q90": [
+            2.999871463075086
+        ],
+        "q99": [
+            3.9998447886088804
+        ]
+    },
+    "observation.state.tcp": {
+        "min": [
+            0.21738922595977783,
+            0.150845468044281,
+            0.8833796977996826,
+            -1.6221457719802856,
+            -2.0080161094665527,
+            -2.0308589935302734,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.27448970079421997,
+            -0.3244531750679016,
+            0.8794719576835632,
+            -2.4096174240112305,
+            -1.651740550994873,
+            -1.862026572227478,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "max": [
+            0.40091514587402344,
+            0.314521461725235,
+            1.0748581886291504,
+            1.4994596242904663,
+            2.149266481399536,
+            1.902427315711975,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.48894003033638,
+            -0.044029831886291504,
+            1.0687499046325684,
+            2.481618642807007,
+            2.3825619220733643,
+            1.8532521724700928,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "mean": [
+            0.2889869990602873,
+            0.20577039092032012,
+            0.9674305598871809,
+            -1.2138114400005948,
+            1.844502974789114,
+            -1.7051664106396878,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.33654776918642315,
+            -0.1649562669817166,
+            0.9431649393350989,
+            0.4498072853839827,
+            1.9824967517312182,
+            0.7024464535947824,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "std": [
+            0.03278824040864503,
+            0.015207645786182304,
+            0.03542229119265029,
+            0.3005666889928806,
+            0.20919182954005142,
+            0.19878127258272432,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.037733464226617816,
+            0.04857981649111619,
+            0.03256531055163214,
+            0.3942854686848291,
+            0.31178413227708707,
+            0.2772937575561373,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "count": [
+            22457
+        ],
+        "q01": [
+            0.24943235313867815,
+            0.18132980865759585,
+            0.9269430686383611,
+            -1.432179630858238,
+            1.0795968834490297,
+            -1.8020714464441583,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            0.29082627409317124,
+            -0.28418591522355513,
+            0.9040476515094643,
+            -0.30815910275333785,
+            0.7349161082191062,
+            -0.0279017449559212,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16
+        ],
+        "q10": [
+            0.25467386578442947,
+            0.1945297240642448,
+            0.9325583683258744,
+            -1.3657116885090317,
+            1.7305197150203906,
+            -1.7715547254207287,
+            3.999578446212126e-15,
+            3.999578446212126e-15,
+            3.999578446212126e-15,
+            3.999578446212126e-15,
+            3.999578446212126e-15,
+            3.999578446212126e-15,
+            0.29915562511437294,
+            -0.22847274886259664,
+            0.9150506257876827,
+            0.21162562622062037,
+            1.787351162613612,
+            0.46740039811530737,
+            3.999578446212126e-15,
+            3.999578446212126e-15,
+            3.999578446212126e-15,
+            3.999578446212126e-15,
+            3.999578446212126e-15,
+            3.999578446212126e-15
+        ],
+        "q50": [
+            0.28742773694300555,
+            0.2046742901321915,
+            0.9647077469988021,
+            -1.2527016463479308,
+            1.874395106236709,
+            -1.7305055623368277,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            0.32370998696459524,
+            -0.15722381190895235,
+            0.932791795799763,
+            0.3993670849459366,
+            2.0582115548098123,
+            0.6892473585417475,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14
+        ],
+        "q90": [
+            0.32328039497401156,
+            0.21914958223523356,
+            1.0059378370093914,
+            -1.0421486017156667,
+            1.9599686386753123,
+            -1.6480109581730071,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            0.38897731822428133,
+            -0.12298946383451875,
+            0.9948907149650483,
+            0.6401550657677557,
+            2.155348463328454,
+            0.9131131525028774,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14
+        ],
+        "q99": [
+            0.37176198933700705,
+            0.23630757726924992,
+            1.0521134801517142,
+            -0.6792045623297666,
+            1.9854193381815275,
+            -1.0623195905263103,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            0.4177948643314598,
+            -0.06822725637604266,
+            1.048239977943224,
+            1.9575184969780761,
+            2.2086072031124053,
+            1.4989474793408257,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14
+        ]
+    },
+    "observation.images.wrist_left": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.25423602883468144
+                ]
+            ],
+            [
+                [
+                    0.25589206178725427
+                ]
+            ],
+            [
+                [
+                    0.2597526771206324
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.006261090651782411
+                ]
+            ],
+            [
+                [
+                    0.006686325423402289
+                ]
+            ],
+            [
+                [
+                    0.006725634708891992
+                ]
+            ]
+        ],
+        "count": [
+            574899200
+        ],
+        "q01": [
+            [
+                [
+                    0.021767758525885184
+                ]
+            ],
+            [
+                [
+                    0.021304537857784276
+                ]
+            ],
+            [
+                [
+                    0.019790966250568004
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.0924924219896103
+                ]
+            ],
+            [
+                [
+                    0.09326445544261497
+                ]
+            ],
+            [
+                [
+                    0.09326006077774593
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.2140366775102381
+                ]
+            ],
+            [
+                [
+                    0.21453459282514437
+                ]
+            ],
+            [
+                [
+                    0.2189793311804855
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.4869960004993534
+                ]
+            ],
+            [
+                [
+                    0.49667747283862196
+                ]
+            ],
+            [
+                [
+                    0.4990294752066962
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.775158950222451
+                ]
+            ],
+            [
+                [
+                    0.7727942746933567
+                ]
+            ],
+            [
+                [
+                    0.7736984885940401
+                ]
+            ]
+        ]
+    },
+    "observation.state": {
+        "min": [
+            0.7926956415176392,
+            -1.0776395797729492,
+            -0.2578171193599701,
+            0.6833593845367432,
+            -1.2714695930480957,
+            -0.9522596597671509,
+            0.18596652150154114,
+            0.005415612831711769,
+            -0.25716498494148254,
+            -0.2877783179283142,
+            -0.3149426281452179,
+            0.0027524714823812246,
+            -0.10190670192241669,
+            -0.31458061933517456,
+            0.0033704747911542654,
+            0.0008136810502037406,
+            -0.1751818060874939,
+            -0.31788375973701477,
+            0.0033414005301892757,
+            0.0008145678439177573,
+            -0.17695273458957672,
+            -0.07478649169206619,
+            0.002836857456713915,
+            0.0008079165127128363,
+            0.005612906999886036,
+            -0.16493748128414154,
+            -0.06278961151838303,
+            -0.005987857468426228,
+            -0.0031048471573740244,
+            0.8382298946380615,
+            -0.908817708492279,
+            -0.23175716400146484,
+            0.5738981366157532,
+            -1.3022894859313965,
+            -0.9600005149841309,
+            -0.5832951068878174,
+            0.00526239862665534,
+            -0.3247544467449188,
+            -0.10524433106184006,
+            -0.1769138127565384,
+            0.0005914109060540795,
+            0.005219549871981144,
+            -0.3159521818161011,
+            -0.0036583796609193087,
+            -0.006909858901053667,
+            0.003672353457659483,
+            -0.2275455892086029,
+            0.0025298059917986393,
+            0.0008416165946982801,
+            -6.1572871345561e-05,
+            -0.09457720071077347,
+            0.0034807438496500254,
+            0.0008522588177584112,
+            0.005299295298755169,
+            -0.000699146359693259,
+            -0.19525954127311707,
+            0.0034679793752729893,
+            0.0008762036450207233,
+            0.5620121955871582,
+            -1.107150673866272,
+            0.5313326120376587,
+            -0.04084223881363869,
+            -0.08417719602584839,
+            -0.08954612910747528,
+            -0.8729309439659119
+        ],
+        "max": [
+            1.3541934490203857,
+            -0.5387593507766724,
+            2.396844820395927e-07,
+            1.7534762620925903,
+            0.18329057097434998,
+            0.18283410370349884,
+            0.6981914639472961,
+            1.4046344757080078,
+            0.08967112749814987,
+            0.1604379564523697,
+            0.31452611088752747,
+            0.4793633222579956,
+            1.4082947969436646,
+            0.03189012035727501,
+            0.9218673706054688,
+            0.334744393825531,
+            1.2011090517044067,
+            0.1822880506515503,
+            1.3445870876312256,
+            0.24698521196842194,
+            1.0833063125610352,
+            0.1106695681810379,
+            0.8472662568092346,
+            0.36001279950141907,
+            0.0863921046257019,
+            1.0096690654754639,
+            0.07035292685031891,
+            0.8585183620452881,
+            0.7348253130912781,
+            1.361030101776123,
+            -0.1432797908782959,
+            0.024259906262159348,
+            1.7386406660079956,
+            1.241255521774292,
+            0.29514628648757935,
+            0.5897976160049438,
+            1.6306824684143066,
+            0.004840501118451357,
+            0.787468433380127,
+            0.31654345989227295,
+            0.6213696599006653,
+            1.2318364381790161,
+            0.17666082084178925,
+            1.193108320236206,
+            0.6628804206848145,
+            1.4704753160476685,
+            0.2146032750606537,
+            1.6092652082443237,
+            1.0260698795318604,
+            1.4690991640090942,
+            0.1288507580757141,
+            1.6548601388931274,
+            0.9891713261604309,
+            0.1153503805398941,
+            1.4690978527069092,
+            0.2717251777648926,
+            1.6552625894546509,
+            1.3082606792449951,
+            0.5634503364562988,
+            -1.1058083772659302,
+            0.6095656156539917,
+            0.006231796927750111,
+            0.04247209429740906,
+            0.22242721915245056,
+            -0.15694540739059448
+        ],
+        "mean": [
+            1.0025363706117663,
+            -0.9465662356066769,
+            -0.1809409400743894,
+            1.629702321927917,
+            -0.09122781407754238,
+            -0.01811469018126056,
+            0.4004786892436133,
+            1.1126549896374511,
+            -0.07500389353169362,
+            -0.17417978088533567,
+            -0.18398913637333797,
+            0.4687312746900492,
+            1.101651368002574,
+            -0.19790115168649675,
+            0.045981888736684,
+            0.2987569333311871,
+            0.6405239367297133,
+            -0.16817272972560562,
+            0.15316223480194013,
+            0.005360592497719558,
+            -0.046108514187957785,
+            -0.02853850976102787,
+            0.0739131769989101,
+            0.2997420357313236,
+            0.013137817544032454,
+            -0.045473752831297024,
+            -0.033627814975618044,
+            0.08570575418461926,
+            0.07284454922712057,
+            1.0256313475639063,
+            -0.6432294541413432,
+            -0.19158022278745554,
+            1.3780392116837188,
+            -0.9151382589959162,
+            -0.4460316390394979,
+            -0.15207388026681043,
+            1.444623352142849,
+            -0.2555845716364604,
+            0.3726076182465193,
+            0.12952101618959255,
+            0.1848817477174846,
+            0.9365789053987595,
+            0.05675400254374812,
+            0.19970743309763017,
+            0.18269730741283785,
+            1.406995494250926,
+            0.06007371190898049,
+            1.068263532705902,
+            0.7838359668120339,
+            1.40213294426724,
+            -0.03028381361790357,
+            1.4120996159065884,
+            0.35794078499263215,
+            0.0758929437467388,
+            1.4103030381678539,
+            0.0655670966158033,
+            1.5553645666323899,
+            1.2289731595322664,
+            0.5627493084302466,
+            -1.1066007698538276,
+            0.5655537882932822,
+            -0.01908378517885137,
+            -0.01574656381744346,
+            0.05176356678607389,
+            -0.7874740983401858
+        ],
+        "std": [
+            0.10662949578083213,
+            0.0700556545234382,
+            0.03769040631838748,
+            0.08182184884854588,
+            0.1907449866512935,
+            0.1582095595632725,
+            0.12003694620163288,
+            0.2013085529982922,
+            0.09783937624633687,
+            0.14746170540211986,
+            0.23709770227389076,
+            0.0634753203582521,
+            0.2618200745304047,
+            0.059772319029968005,
+            0.0768237462215038,
+            0.041060626750544275,
+            0.2844279391208136,
+            0.0868179835661158,
+            0.32895489056945176,
+            0.011947376554377416,
+            0.11171171894167456,
+            0.026923739034377947,
+            0.16900973431362049,
+            0.047363133026822074,
+            0.004129634796959977,
+            0.10984905175114275,
+            0.006358780876280501,
+            0.08253102246947874,
+            0.07144855336715251,
+            0.07500945699850821,
+            0.13342931929530927,
+            0.043825395159322655,
+            0.1866026189682799,
+            0.372560540214997,
+            0.14396478952445485,
+            0.18795382276367673,
+            0.18371410270771338,
+            0.06111684767650008,
+            0.12824929288175452,
+            0.08522350312559492,
+            0.15318265141361107,
+            0.17883768271659325,
+            0.07480519116647937,
+            0.2176949966299115,
+            0.180889948291643,
+            0.23711432029207877,
+            0.05114672533908375,
+            0.3630308249094113,
+            0.22613811679963705,
+            0.26131831135174843,
+            0.03646840558053434,
+            0.4422918990815685,
+            0.15178975325151386,
+            0.017129430460993522,
+            0.2396293702361289,
+            0.058229674938530394,
+            0.3553574469709913,
+            0.2811238483033263,
+            0.0016744986637976394,
+            0.003865895024869371,
+            0.01898673023382922,
+            0.007215170577116106,
+            0.025254406612811937,
+            0.04771014884971792,
+            0.068053748087904
+        ],
+        "count": [
+            22457
+        ],
+        "q01": [
+            0.8711053543354671,
+            -1.0048596138382435,
+            -0.23092578737365071,
+            1.4486252303832559,
+            -0.30233710756862864,
+            -0.7085851351657809,
+            0.3155116231904049,
+            0.14895085027491975,
+            -0.12835857856200847,
+            -0.21900780436492484,
+            -0.2480354698345648,
+            0.05157004237614296,
+            0.16056373448103067,
+            -0.2589831478850868,
+            0.0034808183526332235,
+            0.031450810826400125,
+            -0.014319280596938046,
+            -0.24871596833164905,
+            0.006792900997179173,
+            0.0012065063695014795,
+            -0.1372040711514364,
+            -0.03796619392581774,
+            0.0028713357945322478,
+            0.023236042637887637,
+            0.012344889686635233,
+            -0.12335363275162024,
+            -0.038215229822974574,
+            0.00382657559161027,
+            0.0008349565799224107,
+            0.9290835285415028,
+            -0.835420748897266,
+            -0.22923630165843276,
+            0.9320577957011924,
+            -1.1116587329156074,
+            -0.7897756409640037,
+            -0.3283724800129525,
+            0.2840826323963051,
+            -0.315006941989417,
+            0.00316326741050553,
+            -0.04691099376421825,
+            0.0025463158061527183,
+            0.07415557055267627,
+            -0.2477070206336656,
+            0.0026862069122548338,
+            1.1372756467518233e-05,
+            0.13155080424469834,
+            -0.14922008326107683,
+            0.0031614609993048065,
+            0.0010543581366065419,
+            0.08981379837754044,
+            -0.06342632639085441,
+            0.0036962890858574077,
+            0.0009894118302351369,
+            0.011829613968248921,
+            0.12230622364685105,
+            -0.07183264852190209,
+            0.05131525940620133,
+            0.037171757220590865,
+            0.5625943831371846,
+            -1.10688718775296,
+            0.5427266423679094,
+            -0.02611011884981475,
+            -0.037134110389228724,
+            -0.01269071816981345,
+            -0.8371805044665834
+        ],
+        "q10": [
+            0.8868287387183317,
+            -0.9827037712854796,
+            -0.21945825224288767,
+            1.572044135029957,
+            -0.14487850308213,
+            -0.09268027515104446,
+            0.34372034056837725,
+            1.0913929396590687,
+            -0.10831036614139312,
+            -0.2033447704771881,
+            -0.19058755968518715,
+            0.47914185399981196,
+            1.0834215079605576,
+            -0.23706237305529002,
+            0.007680476223197643,
+            0.30190925443950883,
+            0.6005352300108453,
+            -0.21067961039076818,
+            0.07711124038346259,
+            0.0014762486201707356,
+            -0.08234865930638101,
+            -0.036664364655043455,
+            0.0029273944981793743,
+            0.2896226770144675,
+            0.012396018415128324,
+            -0.0912022340068729,
+            -0.036918943415966604,
+            0.044825379699979406,
+            0.03745291289575687,
+            0.9555287629475449,
+            -0.7747666622434946,
+            -0.22612414369746447,
+            1.0958380710183129,
+            -1.1101617057450601,
+            -0.5722281056302889,
+            -0.2849683389696545,
+            1.4162364378228078,
+            -0.3045094006100245,
+            0.25531388811769895,
+            0.030032807759229934,
+            0.0065202086171586154,
+            0.7674736268623316,
+            -0.0056487745521743805,
+            0.008778575366597841,
+            0.0006764917945068561,
+            1.4505523172090784,
+            0.03730450306292889,
+            0.7212984996766281,
+            0.7777806209848194,
+            1.463071240512426,
+            -0.05456457565616194,
+            1.2034577956340842,
+            0.3108995926750117,
+            0.07807155866910481,
+            1.4635536231907575,
+            0.03115168982012127,
+            1.6464826549886908,
+            1.3016620125037892,
+            0.5626845083984162,
+            -1.1066315647301217,
+            0.559944954838078,
+            -0.02391740097621929,
+            -0.02102294925286141,
+            0.017654917458986265,
+            -0.8266137981899316
+        ],
+        "q50": [
+            0.9954593120434194,
+            -0.9537682139181788,
+            -0.17922386195439396,
+            1.640205753564036,
+            -0.0668871106579668,
+            0.013943655594270203,
+            0.38737542006304504,
+            1.1228346598553287,
+            -0.07322445873912357,
+            -0.17954870987755975,
+            -0.1880864139078017,
+            0.47918586280491793,
+            1.128268482980005,
+            -0.20763844002677545,
+            0.040883075010687844,
+            0.30506834845580494,
+            0.6710912574015216,
+            -0.18440204940613047,
+            0.09863552136017507,
+            0.00393478912976471,
+            -0.04393790665371561,
+            -0.035181746552536204,
+            0.02880926168555311,
+            0.30989628896615995,
+            0.012468272928900175,
+            -0.04309858650417634,
+            -0.03519456215821959,
+            0.08877390159061607,
+            0.07487049888325704,
+            1.0097176664549758,
+            -0.6737291556656742,
+            -0.1996675778056105,
+            1.4457837610698543,
+            -1.038931683388808,
+            -0.4523293616861955,
+            -0.1989516864241977,
+            1.4749810130580543,
+            -0.26955394326157084,
+            0.38882709586372255,
+            0.12511093415020624,
+            0.180368105129167,
+            0.9771668015123035,
+            0.07202845944673544,
+            0.15258620051321842,
+            0.1530895092484275,
+            1.4659757200582901,
+            0.05478745049324645,
+            1.1901340462127035,
+            0.8416680984856321,
+            1.4655428123775154,
+            -0.043021823493725436,
+            1.5587150249840602,
+            0.3675472954911737,
+            0.08028234629115974,
+            1.4661527657412818,
+            0.054810723283339094,
+            1.6547226859183455,
+            1.3074615561803884,
+            0.5627479663970195,
+            -1.1066065528825726,
+            0.5648478232868248,
+            -0.020161794985618674,
+            -0.016061299583510293,
+            0.04620565751011916,
+            -0.8010657630902225
+        ],
+        "q90": [
+            1.128636236294834,
+            -0.9061453738288119,
+            -0.1566170943470831,
+            1.6601589546168256,
+            -0.04151926735992634,
+            0.05319275634619781,
+            0.46900444926476104,
+            1.1883772300362763,
+            -0.04780681236328288,
+            -0.14759446462634387,
+            -0.1833132804254829,
+            0.4792335915225856,
+            1.1565039744458325,
+            -0.1612212934802899,
+            0.12068045849156837,
+            0.3088247208014811,
+            0.6899603199206089,
+            -0.12541485238390482,
+            0.2681808788116029,
+            0.012343002766503559,
+            -0.019587812656714384,
+            -0.014351834943733384,
+            0.17130579953364375,
+            0.31832388643009424,
+            0.013844328033451989,
+            -0.01631281421504728,
+            -0.02976166722473475,
+            0.12428457848590876,
+            0.10664125627863492,
+            1.1195229561043192,
+            -0.4176003998265312,
+            -0.15030268028288904,
+            1.5379936179405498,
+            -0.7114975418048969,
+            -0.3001594614352506,
+            0.028114493308423732,
+            1.517196846697317,
+            -0.19941711274543245,
+            0.48742616165672414,
+            0.25323462269726815,
+            0.37669873842374485,
+            1.0762143750981479,
+            0.12438460146884683,
+            0.47345024982593614,
+            0.39651940165701965,
+            1.4674749356792276,
+            0.11385800982655771,
+            1.2730762530714,
+            0.8828859291462895,
+            1.4673391010945311,
+            0.010223766900214266,
+            1.5972745786305176,
+            0.4638877236171819,
+            0.08037557047361811,
+            1.467808247058385,
+            0.13448524928028355,
+            1.6548670508884868,
+            1.307945007778164,
+            0.5628115851269959,
+            -1.1065944209232037,
+            0.5729727292603806,
+            -0.012771332966610077,
+            -0.00872601015452395,
+            0.096258811778636,
+            -0.739289150092477
+        ],
+        "q99": [
+            1.223465140950243,
+            -0.7675778223715564,
+            -0.035664375918604385,
+            1.689200258840563,
+            0.05630671968901066,
+            0.08152827400333222,
+            0.5894608093784711,
+            1.2177661908968052,
+            0.02733181870752827,
+            0.031982686113762114,
+            0.02804035924414617,
+            0.4792447915491726,
+            1.2266116214207587,
+            -0.003988036962796375,
+            0.1717146461620506,
+            0.3102286214582934,
+            0.7729476067422724,
+            0.017067345508667515,
+            0.32295206138836086,
+            0.02978783184826865,
+            0.16141533429764038,
+            0.009131603684714064,
+            0.20911815130562908,
+            0.323656345544791,
+            0.02377152039288443,
+            0.1604101677277172,
+            -0.00675947312655341,
+            0.21018360086873777,
+            0.18099323502292505,
+            1.229465142635945,
+            -0.30136640248432894,
+            -0.013005801428389922,
+            1.6189298012156084,
+            0.7759059923263114,
+            -0.04201770417838486,
+            0.5059193838309078,
+            1.5589900897964755,
+            -0.010873462755276016,
+            0.6293199047210957,
+            0.3142222394807087,
+            0.46130828522509365,
+            1.112156447906843,
+            0.14578391696494675,
+            0.7866452379438296,
+            0.4409264037013324,
+            1.4686319505297492,
+            0.17184288758048544,
+            1.3219338750254577,
+            0.907227926658033,
+            1.46848290814791,
+            0.09456635636105847,
+            1.6021190794655105,
+            0.5406762472866544,
+            0.081581274739603,
+            1.468684168346631,
+            0.19049772250181116,
+            1.6549017339232752,
+            1.3081485692773505,
+            0.5629203646626253,
+            -1.106460476798214,
+            0.582798889687562,
+            0.0006984390030046947,
+            0.007289054626633294,
+            0.11627238510804232,
+            -0.5701786996107788
+        ]
+    },
+    "action": {
+        "min": [
+            0.7926967144012451,
+            -1.0777051448822021,
+            -0.2578085958957672,
+            0.6830921173095703,
+            -1.2714929580688477,
+            -0.9522542357444763,
+            0.18580050766468048,
+            0.0,
+            -0.2566433548927307,
+            -0.28976958990097046,
+            -0.3490658402442932,
+            0.0,
+            -0.1745329201221466,
+            -0.3490658402442932,
+            0.0,
+            0.0,
+            -0.1745329201221466,
+            -0.3490658402442932,
+            0.0,
+            0.0,
+            -0.1745329201221466,
+            -0.31598955392837524,
+            0.0,
+            0.0,
+            0.0,
+            -0.15242548286914825,
+            -0.3490658402442932,
+            0.0,
+            0.0,
+            0.8381751179695129,
+            -0.9089070558547974,
+            -0.23168256878852844,
+            0.5738518238067627,
+            -1.3022737503051758,
+            -0.9853368997573853,
+            -0.5835466980934143,
+            0.0,
+            -0.31626829504966736,
+            -0.12775515019893646,
+            -0.21321254968643188,
+            -0.1745329201221466,
+            0.0,
+            -0.3490658402442932,
+            0.0,
+            0.0,
+            0.0,
+            -0.2603825330734253,
+            0.0,
+            0.0,
+            0.0,
+            -0.2697780728340149,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            -0.3490658402442932,
+            0.0,
+            0.0,
+            0.5626833438873291,
+            -1.1069231033325195,
+            0.530375599861145,
+            -0.040892958641052246,
+            -0.08423134684562683,
+            -0.09110308438539505,
+            -0.8727390766143799
+        ],
+        "max": [
+            1.3542189598083496,
+            -0.5379512906074524,
+            0.0,
+            1.7535202503204346,
+            0.18324638903141022,
+            0.18295876681804657,
+            0.9291578531265259,
+            1.4064686298370361,
+            0.0897487923502922,
+            0.1665993183851242,
+            0.3256940245628357,
+            0.4822549521923065,
+            1.4085898399353027,
+            0.06204121559858322,
+            0.9323402643203735,
+            0.3317807912826538,
+            1.247682809829712,
+            0.20844024419784546,
+            1.3557615280151367,
+            0.2506428360939026,
+            1.092567801475525,
+            0.11457984894514084,
+            0.8515914678573608,
+            0.36426296830177307,
+            0.10158784687519073,
+            1.0158785581588745,
+            0.07805185765028,
+            0.8665457367897034,
+            0.7426384687423706,
+            1.3611453771591187,
+            -0.14325203001499176,
+            0.026806723326444626,
+            1.7387362718582153,
+            1.2415196895599365,
+            0.2953416705131531,
+            0.5949827432632446,
+            1.6369152069091797,
+            0.0,
+            0.9565773010253906,
+            0.3490658402442932,
+            0.697631299495697,
+            1.2370597124099731,
+            0.17593914270401,
+            1.199151635169983,
+            0.664405345916748,
+            1.5707963705062866,
+            0.231162428855896,
+            1.6146634817123413,
+            1.0524065494537354,
+            1.5707963705062866,
+            0.13634318113327026,
+            1.7453292608261108,
+            1.0239320993423462,
+            0.09386812150478363,
+            1.5707963705062866,
+            0.2800578474998474,
+            1.7453292608261108,
+            1.3962633609771729,
+            0.5629709362983704,
+            -1.1060965061187744,
+            0.6100229024887085,
+            0.007095314562320709,
+            0.043003667145967484,
+            0.22277741134166718,
+            -0.1478661596775055
+        ],
+        "mean": [
+            1.002569300889406,
+            -0.9465433225482232,
+            -0.18096394728479864,
+            1.629687298335274,
+            -0.09128506380158753,
+            -0.018084961566023176,
+            0.40179075615013327,
+            1.1115235406420199,
+            -0.07242158540387034,
+            -0.17273095865224777,
+            -0.18836944462986863,
+            0.4713698246164569,
+            1.1045768089058636,
+            -0.19569084542543566,
+            0.046904921901471615,
+            0.3016563276072063,
+            0.6428804140022572,
+            -0.1665713611037865,
+            0.15279296518814375,
+            0.0047511124061562805,
+            -0.04516227681619585,
+            -0.15069034875611054,
+            0.07309597235055788,
+            0.30224486525253985,
+            0.003714977622074736,
+            -0.045268770855471076,
+            -0.2870048291909226,
+            0.08695443148469313,
+            0.07427558680982115,
+            1.0258047752894857,
+            -0.6434948754187455,
+            -0.1915892647353625,
+            1.3785125459562815,
+            -0.9206800485021439,
+            -0.44697282654644466,
+            -0.15154801955863056,
+            1.4443381293435638,
+            -0.25350969700183296,
+            0.3735200934698975,
+            0.12911453446484572,
+            0.16633840669363711,
+            0.9389477291854379,
+            0.058153502246476176,
+            0.20103031293651896,
+            0.1868334775253518,
+            1.5039056968873694,
+            0.05828231252979053,
+            1.0693140969854187,
+            0.7834497241726084,
+            1.497503938963488,
+            -0.03466329368037628,
+            1.4390662380162362,
+            0.3575838512711212,
+            0.08597772345580545,
+            1.5055408171120663,
+            0.059184714452797216,
+            1.6375683407359478,
+            1.3096619006250476,
+            0.562775218205975,
+            -1.106626428606334,
+            0.5655990813312173,
+            -0.01912824028276231,
+            -0.015759185894093877,
+            0.051783989780999816,
+            -0.7874997677730634
+        ],
+        "std": [
+            0.106567367194175,
+            0.07016163806103026,
+            0.03767917733643908,
+            0.08203777515569781,
+            0.19061113246345432,
+            0.15846609969858522,
+            0.12383584558390352,
+            0.21218218154455606,
+            0.09951984322412069,
+            0.14845915197753295,
+            0.2420092010034698,
+            0.07162950870566093,
+            0.27235309704338595,
+            0.06468495813317267,
+            0.07954064443361755,
+            0.046120487623836456,
+            0.29013683698788184,
+            0.08952051144344485,
+            0.33073185246084397,
+            0.01306424764590588,
+            0.11285820270140436,
+            0.07535807206884915,
+            0.17109005316712642,
+            0.05120965481810716,
+            0.008484385725765483,
+            0.11374908562682987,
+            0.08415659729573743,
+            0.08434789291198753,
+            0.07254152322499965,
+            0.07501061487028432,
+            0.13330974478798094,
+            0.04390449815383711,
+            0.18646551447758386,
+            0.3558080765178609,
+            0.14336645871380024,
+            0.18916661609765942,
+            0.20151733095071042,
+            0.06405433179896437,
+            0.13337143085928893,
+            0.09231208601401153,
+            0.18285571304859038,
+            0.19007094810099193,
+            0.07746427491643032,
+            0.21817404710361354,
+            0.18662296774376655,
+            0.2719189359674441,
+            0.05249629679477131,
+            0.36278900252217716,
+            0.2271864083345825,
+            0.2960460852547582,
+            0.04183569006520295,
+            0.45835820790637194,
+            0.15147348927460177,
+            0.01949882207021249,
+            0.2746632712043517,
+            0.07523427103559248,
+            0.3846780919976047,
+            0.3090348533167018,
+            0.0020029657203181617,
+            0.004397291957740511,
+            0.01903337931538987,
+            0.007232624208796935,
+            0.025339860542787567,
+            0.04780081565612522,
+            0.06825590305440894
+        ],
+        "count": [
+            22457
+        ],
+        "q01": [
+            0.8711117817026938,
+            -1.004864998984244,
+            -0.23086889478555253,
+            1.4479889601069589,
+            -0.302518639658316,
+            -0.7138110039239682,
+            0.3165812119849605,
+            0.10607849750586242,
+            -0.1286320717188066,
+            -0.21989656998516133,
+            -0.26144510519537384,
+            -1.000000013351432e-10,
+            0.10411206470763062,
+            -0.2642851372498244,
+            -8.170719069651853e-11,
+            -1.000000013351432e-10,
+            -0.03764442088711923,
+            -0.25898978263440303,
+            -1.000000013351432e-10,
+            -4.880417759797967e-11,
+            -0.14497835278721652,
+            -0.2369037509686616,
+            -6.199388186078548e-11,
+            -1.000000013351432e-10,
+            -5.987426699613471e-11,
+            -0.13058624021792475,
+            -0.34049313690519734,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            0.9291700465891066,
+            -0.835575530826267,
+            -0.22924282509354427,
+            0.9320824039107191,
+            -1.111645237502503,
+            -0.7941910776187563,
+            -0.32806135597128405,
+            0.13580467811359231,
+            -0.3135416486474492,
+            -0.007231346225662917,
+            -0.05078120126999501,
+            -0.17019609282064424,
+            -1.000000013351432e-10,
+            -0.26569660095973946,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -0.1633919413265595,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -0.159967313527431,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -0.25619051357876954,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            0.5626876473092393,
+            -1.1068879550652158,
+            0.5422822665800112,
+            -0.026176089474185177,
+            -0.03746870016140591,
+            -0.014651499231520182,
+            -0.8372109762118894
+        ],
+        "q10": [
+            0.8868114504692657,
+            -0.9826788914506236,
+            -0.21946270387398306,
+            1.5719184767125252,
+            -0.1448825587176739,
+            -0.09252021431746409,
+            0.34375178280635477,
+            1.090982827241628,
+            -0.10689364401164993,
+            -0.20223161137969706,
+            -0.19746901609896594,
+            0.4821661209128627,
+            1.0850783203088092,
+            -0.2372416382196631,
+            0.005312453872638109,
+            0.3056170664764449,
+            0.603035710189519,
+            -0.21051717729764455,
+            0.07403561306085286,
+            -4.88023347499565e-11,
+            -0.08241639339191177,
+            -0.18706965111283191,
+            -6.199251379016899e-11,
+            0.2928195897458832,
+            0.002292012789870134,
+            -0.0939188121497275,
+            -0.3244243196525305,
+            0.044255623198534044,
+            0.03794709665102519,
+            0.9557676583784357,
+            -0.7750092281605994,
+            -0.2261371714488647,
+            1.0971279341295366,
+            -1.1101650317176899,
+            -0.5733299376684076,
+            -0.28492971709153686,
+            1.4181618854893678,
+            -0.30463030205351094,
+            0.2553406482673196,
+            0.023076483327059215,
+            -0.07336354615261254,
+            0.7711404942121939,
+            -0.0054286873408454445,
+            0.005144221038615969,
+            -1.000000013351432e-10,
+            1.5704922107156294,
+            0.03320204153190206,
+            0.7455800626977509,
+            0.7717999357185162,
+            1.5704935494645034,
+            -0.05846876807130024,
+            1.237193696591895,
+            0.3098343660775281,
+            0.08638030628598588,
+            1.5704945163696893,
+            0.026151553101361944,
+            1.7310205505840446,
+            1.384783478055397,
+            0.5627727134752188,
+            -1.1066315897458907,
+            0.5598153407594075,
+            -0.024045479986065738,
+            -0.020986439870093077,
+            0.017560635687834454,
+            -0.8266585456748803
+        ],
+        "q50": [
+            0.9956075302937679,
+            -0.9537699012831563,
+            -0.17925188672937425,
+            1.640184469374874,
+            -0.06688992436340595,
+            0.01390499110273738,
+            0.3873851745145149,
+            1.1232244090020718,
+            -0.07140933954932215,
+            -0.17842241367330447,
+            -0.19262736678199913,
+            0.4822056014815045,
+            1.13105579521495,
+            -0.20584706127414604,
+            0.04247734825545463,
+            0.3081554502500074,
+            0.6740617967330808,
+            -0.1826359359135122,
+            0.09850542233917506,
+            0.0034324700727489006,
+            -0.04350965392614332,
+            -0.16645266563207436,
+            0.02793544010340564,
+            0.31297969595667974,
+            0.00398388903341787,
+            -0.041946142062176076,
+            -0.31098417551316054,
+            0.08976684763120979,
+            0.07694354861924448,
+            1.0098476353143886,
+            -0.6739436769115303,
+            -0.1996967405592839,
+            1.4460471336630543,
+            -1.038920341614776,
+            -0.45248485279220213,
+            -0.1988346431283564,
+            1.4761004072066868,
+            -0.26712012751454906,
+            0.3897187500642554,
+            0.12442885359864737,
+            0.18095346630752926,
+            0.9787942993272147,
+            0.0739506152417916,
+            0.15567456688964973,
+            0.15366852113689455,
+            1.5706273928448105,
+            0.05473112182203611,
+            1.1895896475910928,
+            0.8417878662397297,
+            1.570628136594185,
+            -0.04351724888188354,
+            1.58747547418253,
+            0.36723310302677153,
+            0.09153150277152261,
+            1.5706286737637327,
+            0.05494557966148428,
+            1.7451391736825999,
+            1.3961113691403335,
+            0.562772733095694,
+            -1.106631556793368,
+            0.5649182636281491,
+            -0.02021309159780055,
+            -0.016046773400075227,
+            0.04628624256872632,
+            -0.8011670032011732
+        ],
+        "q90": [
+            1.1288590420618827,
+            -0.906130366641197,
+            -0.15662379392441442,
+            1.6601574868425617,
+            -0.04002075269898815,
+            0.053121503714662434,
+            0.46953309310148844,
+            1.1877030466154166,
+            -0.04230616111808394,
+            -0.14665315919832653,
+            -0.18558492672573035,
+            0.48224508205014627,
+            1.1678100274241332,
+            -0.15457065190215025,
+            0.1249523668783558,
+            0.3117736085104507,
+            0.692064833461275,
+            -0.12324033141824815,
+            0.2708955148169205,
+            0.0127222855257258,
+            -0.015908238944861677,
+            -0.1110730471382887,
+            0.17218982096579197,
+            0.3212190139897792,
+            0.0043872458953788974,
+            -0.013706747542394484,
+            -0.2555045041670432,
+            0.12705347337421652,
+            0.10887038397619167,
+            1.1200411838043849,
+            -0.41803184936097576,
+            -0.15017521972255957,
+            1.5381840977206092,
+            -0.7162798244665868,
+            -0.3004547926405078,
+            0.02963195732742989,
+            1.518360216340127,
+            -0.19707110449794504,
+            0.49112239718413747,
+            0.25811601017837676,
+            0.37774149948327873,
+            1.0883463121468473,
+            0.1288181461250031,
+            0.4748186071449731,
+            0.4125276838517979,
+            1.5707625749739913,
+            0.11147947005705515,
+            1.2731906061883302,
+            0.8827852495650854,
+            1.5707627237238662,
+            0.008401914062918292,
+            1.6425617638336212,
+            0.46390893680549694,
+            0.09242438714170588,
+            1.5707628311577753,
+            0.13235539320089554,
+            1.7452912433974088,
+            1.3962329626098051,
+            0.5627727527161689,
+            -1.106631523840845,
+            0.5730420990397809,
+            -0.012816649866942113,
+            -0.008680303968629939,
+            0.09638810945629077,
+            -0.7393166405847927
+        ],
+        "q99": [
+            1.2232739855826944,
+            -0.7669808181753384,
+            -0.035569909902528965,
+            1.6892805218251328,
+            0.056260847716348705,
+            0.08196084917759965,
+            0.6212663425108296,
+            1.221784434984153,
+            0.03303751022395217,
+            0.037911968413788,
+            0.06155235048030337,
+            0.48225396517809055,
+            1.230786885741611,
+            0.008627396030711961,
+            0.17541440753349638,
+            0.31318826624385526,
+            0.7758875177604311,
+            0.02444571189108619,
+            0.32592937024558016,
+            0.030552823803466283,
+            0.16924464346352014,
+            0.016370102290680554,
+            0.20967513878486813,
+            0.32651210915516,
+            0.018418283642395873,
+            0.1659134927876767,
+            0.005558375833588629,
+            0.21410229918028134,
+            0.18352849756725795,
+            1.2242099122814083,
+            -0.3013617856869543,
+            -0.013327880507400513,
+            1.6193548798605157,
+            0.6937199529398161,
+            -0.08079318169956774,
+            0.5074704326666876,
+            1.5607697788034602,
+            -2.9579827262738414e-05,
+            0.6485081711073823,
+            0.3472498743178733,
+            0.4738451267375771,
+            1.1241224069750793,
+            0.14797918648579303,
+            0.7867821080249184,
+            0.4481319049386154,
+            1.5707929909530578,
+            0.16978827965725626,
+            1.3237336653155944,
+            0.9066609964016099,
+            1.5707930058280446,
+            0.09316241550922379,
+            1.6544698592759401,
+            0.5300487557055291,
+            0.09309889447025306,
+            1.5707930165714357,
+            0.18730355797392656,
+            1.7453254590832405,
+            1.396260321140436,
+            0.5627834475268855,
+            -1.1066315164265272,
+            0.5829241463819486,
+            0.0008619410483694191,
+            0.008997309431286873,
+            0.11640631118166331,
+            -0.5624393969066034
+        ]
+    },
+    "observation.images.tactile_raw": {
+        "min": [
+            [
+                [
+                    0.01568627450980392
+                ]
+            ],
+            [
+                [
+                    0.01568627450980392
+                ]
+            ],
+            [
+                [
+                    0.01568627450980392
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.46554402698723296
+                ]
+            ],
+            [
+                [
+                    0.46554402698723296
+                ]
+            ],
+            [
+                [
+                    0.46554402698723296
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.00026882921440328126
+                ]
+            ],
+            [
+                [
+                    0.00026882921440328126
+                ]
+            ],
+            [
+                [
+                    0.00026882921440328126
+                ]
+            ]
+        ],
+        "count": [
+            172469760
+        ],
+        "q01": [
+            [
+                [
+                    0.08242192667929539
+                ]
+            ],
+            [
+                [
+                    0.08242192667929539
+                ]
+            ],
+            [
+                [
+                    0.08242192667929539
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.16860178427791897
+                ]
+            ],
+            [
+                [
+                    0.16860178427791897
+                ]
+            ],
+            [
+                [
+                    0.16860178427791897
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.43840211222893105
+                ]
+            ],
+            [
+                [
+                    0.43840211222893105
+                ]
+            ],
+            [
+                [
+                    0.43840211222893105
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.8117744175021312
+                ]
+            ],
+            [
+                [
+                    0.8117744175021312
+                ]
+            ],
+            [
+                [
+                    0.8117744175021312
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9959761047872092
+                ]
+            ],
+            [
+                [
+                    0.9959761047872092
+                ]
+            ],
+            [
+                [
+                    0.9959761047872092
+                ]
+            ]
+        ]
+    },
+    "observation.state.joint_torque": {
+        "min": [
+            -42.14699935913086,
+            -11.4975004196167,
+            -25.1560001373291,
+            -15.116000175476074,
+            -1.0751999616622925,
+            -5.131199836730957,
+            -5.6367998123168945,
+            -2.11150860786438,
+            -0.9271280765533447,
+            -0.9071634411811829,
+            -0.5728799104690552,
+            -0.14776279032230377,
+            -0.9824913144111633,
+            -0.5449756979942322,
+            -0.3984614610671997,
+            -0.11273347586393356,
+            -1.0870729684829712,
+            -0.4902862310409546,
+            -0.6109743118286133,
+            -0.02996712550520897,
+            -1.2684117555618286,
+            -1.0745999813079834,
+            -0.5711280703544617,
+            -0.04780469834804535,
+            -0.161407008767128,
+            -0.8136256337165833,
+            -0.7387874126434326,
+            -0.4864550530910492,
+            -0.06136125698685646,
+            -28.944000244140625,
+            -15.836999893188477,
+            -32.8849983215332,
+            -13.104999542236328,
+            -3.770400047302246,
+            -8.888799667358398,
+            -4.156799793243408,
+            -1.5906360149383545,
+            -2.6145520210266113,
+            -1.441519856452942,
+            -2.778654098510742,
+            -0.3918204605579376,
+            -1.1062623262405396,
+            -0.8174635171890259,
+            -1.054262638092041,
+            -0.21405088901519775,
+            -0.6188544034957886,
+            -1.00455904006958,
+            -0.9762305021286011,
+            -0.21476440131664276,
+            -0.5987056493759155,
+            -1.6099810600280762,
+            -0.7354934215545654,
+            -0.16838671267032623,
+            -0.4908180236816406,
+            -0.5363405346870422,
+            -0.5603271126747131,
+            -0.7039486169815063,
+            -0.14983563125133514,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "max": [
+            -4.0229997634887695,
+            21.29400062561035,
+            2.5409998893737793,
+            6.995999813079834,
+            2.2079999446868896,
+            2.6791999340057373,
+            4.544000148773193,
+            1.675962209701538,
+            3.0055251121520996,
+            1.1929819583892822,
+            1.2327481508255005,
+            0.31378841400146484,
+            2.1405646800994873,
+            1.055410623550415,
+            1.0592433214187622,
+            0.21333740651607513,
+            1.3566824197769165,
+            1.3192633390426636,
+            0.41174352169036865,
+            0.026399608701467514,
+            0.7013683319091797,
+            0.5670433640480042,
+            0.503057599067688,
+            0.025686107575893402,
+            0.34788262844085693,
+            0.9431533217430115,
+            2.1405646800994873,
+            0.307147353887558,
+            0.08633385598659515,
+            45.38100051879883,
+            18.584999084472656,
+            24.738000869750977,
+            10.175999641418457,
+            0.7192000150680542,
+            3.040800094604492,
+            14.159199714660645,
+            5.011330604553223,
+            4.359284400939941,
+            2.0491950511932373,
+            1.5198092460632324,
+            1.0310190916061401,
+            2.142483711242676,
+            1.9026175737380981,
+            1.0592433214187622,
+            0.21405088901519775,
+            2.144402503967285,
+            0.884626030921936,
+            1.054262638092041,
+            0.1526896357536316,
+            1.5552915334701538,
+            0.41736695170402527,
+            0.7305126786231995,
+            0.14769510924816132,
+            0.14381495118141174,
+            1.1753437519073486,
+            0.8270581960678101,
+            0.7388139367103577,
+            0.15697064995765686,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "mean": [
+            -21.123292986333922,
+            4.7989364295246375,
+            -12.758049893942957,
+            -5.5950051305045285,
+            0.20626187440759883,
+            -0.23840657175954147,
+            2.2706200370286616,
+            -0.043670673220956156,
+            0.018381272698467982,
+            0.016069750750410464,
+            0.007132925986011126,
+            0.0007137243267339378,
+            0.03604141525281524,
+            0.015768718117915304,
+            0.014983520319151535,
+            0.004843431660364922,
+            0.013574048177171468,
+            0.007708223457897943,
+            0.003642703501895574,
+            0.00019787588209406996,
+            0.011147984922263555,
+            -0.016980660996303316,
+            0.00460313067236684,
+            0.0012363122025570083,
+            0.00011852265904505651,
+            0.021608358885565674,
+            -0.011312928922883832,
+            0.0027654482131308535,
+            -0.00028391411638193037,
+            22.538481065106584,
+            2.726305518973334,
+            10.25642438896109,
+            -4.632620381285513,
+            -0.8723565717969057,
+            0.802426500962637,
+            -0.8464491635198695,
+            0.1800641678225571,
+            0.3449736571267626,
+            0.1816985991898689,
+            -0.0035468374425987005,
+            0.04894433891337741,
+            0.38192134766744934,
+            0.06937380430961734,
+            0.19519549207816211,
+            0.05015892037078317,
+            0.06617680268422338,
+            -0.005095059514672318,
+            0.019609232180496688,
+            -0.001774943394819665,
+            0.011153665747768129,
+            -0.07951663679273642,
+            0.006833320151565623,
+            -0.0012115286189754632,
+            0.000962991543105497,
+            0.023160842075657297,
+            -0.03072006939802734,
+            0.0006103712991789687,
+            0.002531019691667141,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "std": [
+            2.397561307517635,
+            1.4211764923081842,
+            1.1623209923486875,
+            1.0944914529770504,
+            0.25213686384700074,
+            0.547169143622685,
+            0.3098036307326924,
+            0.19068007782252835,
+            0.20028499232754043,
+            0.07747066173761902,
+            0.07957749093790531,
+            0.012729155324848059,
+            0.2107893370193378,
+            0.08590072729060709,
+            0.10279040345891789,
+            0.023995851081573927,
+            0.07196175853293339,
+            0.07569802001176737,
+            0.015128471145407493,
+            0.003921248975066997,
+            0.07673811100425304,
+            0.06657759094496324,
+            0.019293773155351794,
+            0.006631867034327473,
+            0.009384409667735353,
+            0.0775454201942802,
+            0.08512393501076133,
+            0.015798476586737095,
+            0.008933028786404696,
+            5.168930548283686,
+            2.4604046077560002,
+            3.727734282744362,
+            1.9515304580044508,
+            0.26136448069043594,
+            1.0337059518788987,
+            1.1635958252332608,
+            0.7242513187488445,
+            0.780131466019678,
+            0.3409411801903124,
+            0.5181505590784979,
+            0.10340247347771213,
+            0.6281560544652729,
+            0.23544824246747087,
+            0.336201851520795,
+            0.07935147833874784,
+            0.25823959334696045,
+            0.11074783936495905,
+            0.09374454887737352,
+            0.0314904075000495,
+            0.07063751560026388,
+            0.13952669797938896,
+            0.027100618397474786,
+            0.00961266429206168,
+            0.019469626063335643,
+            0.069017416297305,
+            0.11044151761861534,
+            0.02252532793236097,
+            0.00598163692732183,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "count": [
+            22457
+        ],
+        "q01": [
+            -27.748600273800747,
+            1.4921319960639063,
+            -15.216696605919553,
+            -7.5109488677560226,
+            -0.08862632997327698,
+            -1.0481714556897404,
+            1.7442253295336008,
+            -0.6703388224446922,
+            -0.3653451993111211,
+            -0.1562370289191182,
+            -0.19530564692762042,
+            -0.03460415038043677,
+            -0.16049662554566843,
+            -0.24959414233254298,
+            -0.027767198330850885,
+            -0.013913554559745534,
+            -0.14075692531845305,
+            -0.207099172686382,
+            -0.022177508721197677,
+            -0.00920325325369069,
+            -0.22186411471008527,
+            -0.23817942095163427,
+            -0.03163204845233227,
+            -0.014539645917941426,
+            -0.010661031882465333,
+            -0.19498420152735724,
+            -0.2177293277347575,
+            -0.037079301811523455,
+            -0.026164245760899027,
+            2.1007092595681134,
+            -3.27162766681773,
+            -6.2448302232266295,
+            -7.843663814492614,
+            -1.7520729121359453,
+            -3.006279084634265,
+            -2.518979397363429,
+            -1.019558664478596,
+            -1.1890802800357034,
+            -0.3977318195433663,
+            -2.282261083737223,
+            -0.1018919932728371,
+            -0.32658318046052276,
+            -0.27275680626473026,
+            -0.12212963253317718,
+            -0.02784431465412831,
+            -0.13257696792710258,
+            -0.29370207500312706,
+            -0.14307256466941695,
+            -0.053429491283066996,
+            -0.16825657659381416,
+            -0.5199072001869072,
+            -0.05982718512079636,
+            -0.022518335646171003,
+            -0.0580229743048114,
+            -0.16404648097467459,
+            -0.3153483417921557,
+            -0.0570889926886481,
+            -0.010709854119230543,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16
+        ],
+        "q10": [
+            -23.480258949919502,
+            3.3651082168243533,
+            -13.98421684108095,
+            -6.687586444300206,
+            0.049094380686805134,
+            -0.7465813764002451,
+            1.9919511660906857,
+            -0.20259647376002485,
+            -0.08959196738536197,
+            -0.030465771114470488,
+            -0.03344245733509561,
+            -8.109262526311552e-06,
+            -0.032695879437853265,
+            -0.027722271292003553,
+            -0.0020099565026761314,
+            -0.0019689189701180376,
+            -0.03085051088311014,
+            -0.03430973447885714,
+            -0.000528943299502505,
+            -0.0016599521787675573,
+            -0.03822284223446799,
+            -0.08147450848802308,
+            -0.0038999022234834286,
+            -0.0049728151770763625,
+            -0.0005082650057866449,
+            -0.0239609080206013,
+            -0.07183729909230466,
+            -0.0045761384021501825,
+            -0.009332308268952686,
+            17.711831154292263,
+            -0.28014887674475797,
+            6.97351718545698,
+            -6.578074767310317,
+            -1.1100058061843783,
+            -0.5032832129893312,
+            -1.7062781803058107,
+            -0.3804192153136525,
+            -0.277108817666942,
+            -0.12626201708272813,
+            -0.2536256598193144,
+            -0.039921820488368294,
+            -0.12821123810450702,
+            -0.12413238762361134,
+            -0.028656333835004738,
+            -0.007177191504661678,
+            -0.01170171915853657,
+            -0.09207368734265214,
+            -0.026086885745586805,
+            -0.030379549268578686,
+            -0.04518037738403115,
+            -0.255571597620496,
+            -0.007000286640664508,
+            -0.00936886947568137,
+            -0.0007840686174047839,
+            -0.02495358225676373,
+            -0.1736695458372029,
+            -3.878360383446429e-05,
+            -7.839628998871147e-06,
+            3.999578446212126e-15,
+            3.999578446212126e-15,
+            3.999578446212126e-15,
+            3.999578446212126e-15,
+            3.999578446212126e-15,
+            3.999578446212126e-15,
+            3.999578446212126e-15
+        ],
+        "q50": [
+            -20.85562197230042,
+            4.846626184355009,
+            -12.715945593135602,
+            -5.6830165221089475,
+            0.17338704642453442,
+            -0.29341290730372177,
+            2.249732134214475,
+            -0.014631574371004201,
+            0.006946942822927026,
+            0.0059301674348463,
+            0.0006914057060266458,
+            1.587324342887769e-05,
+            0.00416279628537766,
+            0.00795186404275885,
+            0.0005711955368137132,
+            0.0010496377061763884,
+            0.00594984694979812,
+            0.006120188523201571,
+            0.0011465043117621478,
+            1.8690806206349672e-07,
+            0.004853160813013589,
+            -0.00304606816156008,
+            0.0020671692197518432,
+            0.0003192527748249593,
+            -3.8559644768091624e-06,
+            0.012357991654196617,
+            -0.0010854822298791505,
+            0.0004485728587130829,
+            -0.0003048876965388632,
+            23.05420882734679,
+            2.7863514913775624,
+            11.079858863366745,
+            -4.967711731409074,
+            -0.8547560973369884,
+            0.9888300648042911,
+            -1.0121668019631176,
+            0.04920457228782683,
+            0.1376084530330695,
+            0.0747248999033643,
+            0.03884242386275542,
+            0.01787167981579807,
+            0.11373862111343379,
+            0.0063999532162676955,
+            0.019600919005280514,
+            0.008329354611982854,
+            0.016327764884613277,
+            -0.0028514406729690024,
+            0.0072844136938300975,
+            0.0018987155388949643,
+            0.003208340078743767,
+            -0.0330023060942019,
+            0.0029071913703741016,
+            -0.004701794614617964,
+            1.3003163093441674e-05,
+            0.007207941846104546,
+            -0.01130551210632629,
+            2.9362411771420476e-05,
+            0.0013052173935637088,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14
+        ],
+        "q90": [
+            -18.945025703204646,
+            6.143728111689167,
+            -11.639468717294795,
+            -4.408544510525714,
+            0.3411447758256895,
+            0.35157448187177814,
+            2.586171332515046,
+            0.08610620889103135,
+            0.11844286686930851,
+            0.07236308600907124,
+            0.047307540925155184,
+            0.0007044808064659183,
+            0.10196099544404749,
+            0.08019520197936456,
+            0.024854920132865756,
+            0.009919569762471606,
+            0.06696209152014188,
+            0.05126581117367754,
+            0.014748296729529974,
+            0.0027767266323156315,
+            0.08085094705606902,
+            0.021781503855704556,
+            0.01718300048591025,
+            0.009746617049413441,
+            0.0004313674511037256,
+            0.09195687274723191,
+            0.020419029853372482,
+            0.015073013797143795,
+            0.009213069455101483,
+            27.534628172440716,
+            5.529759747439407,
+            12.992719953576652,
+            -2.3751664197513387,
+            -0.6263021704238693,
+            1.761230369786348,
+            -0.0518933377341519,
+            0.7914758442701724,
+            1.4063960601625562,
+            0.6813927440723307,
+            0.4536451959029254,
+            0.19570203582959145,
+            1.4007416256384897,
+            0.39485435324857937,
+            0.7906905151869557,
+            0.1815087497670365,
+            0.17767732190537464,
+            0.08478650674939861,
+            0.08545082852907807,
+            0.014757969876004074,
+            0.07422500215832532,
+            0.01510551544331288,
+            0.028504616134235466,
+            0.012314208488147661,
+            0.0022595280290959056,
+            0.09053757146397659,
+            0.09309133603755505,
+            0.002267504008090739,
+            0.008870640958835623,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14
+        ],
+        "q99": [
+            -18.187746942480818,
+            7.87857952553819,
+            -10.793021132390656,
+            -2.8563416599307945,
+            1.21209097095513,
+            0.9519570635494377,
+            2.9159297742442636,
+            0.32762371181374733,
+            0.5559566253417851,
+            0.25250081277523445,
+            0.31731951040553985,
+            0.03993278703458012,
+            0.48437727628580407,
+            0.2512111018603299,
+            0.1872355748054767,
+            0.04298871280735603,
+            0.25403542649567934,
+            0.26960180973527487,
+            0.03523411207965638,
+            0.006619822125343757,
+            0.21672454310143233,
+            0.13918180386384632,
+            0.05033262569906194,
+            0.014448715034599787,
+            0.018182156814459755,
+            0.24690971984720805,
+            0.15967441963962095,
+            0.045756629562233246,
+            0.015797156968325267,
+            30.902006591621568,
+            9.029695764964083,
+            14.955667935103135,
+            2.1685977852645495,
+            -0.25046962476776763,
+            2.13024359672488,
+            4.385420239080955,
+            3.3251524801145353,
+            2.717056001622631,
+            1.1548923693518023,
+            0.8669087268018522,
+            0.36654219559638496,
+            1.9139401292313902,
+            0.823364733844888,
+            0.9996478085440438,
+            0.21328391606867897,
+            0.5703841974470574,
+            0.2945143885024949,
+            0.2564206953327388,
+            0.03246503960039029,
+            0.24885141372573166,
+            0.11031502484306499,
+            0.07629885524965532,
+            0.015450586048046043,
+            0.06642819908280474,
+            0.2609448704993268,
+            0.25049639771674415,
+            0.05102892364809612,
+            0.013912396802391357,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14
+        ]
+    },
+    "observation.images.head_right": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.5299026399690218
+                ]
+            ],
+            [
+                [
+                    0.5299293309225716
+                ]
+            ],
+            [
+                [
+                    0.5330427888002955
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0037481314529381232
+                ]
+            ],
+            [
+                [
+                    0.0038005190046708948
+                ]
+            ],
+            [
+                [
+                    0.003898482119403211
+                ]
+            ]
+        ],
+        "count": [
+            574899200
+        ],
+        "q01": [
+            [
+                [
+                    0.11620884878073899
+                ]
+            ],
+            [
+                [
+                    0.11257294950395907
+                ]
+            ],
+            [
+                [
+                    0.1149017725114559
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.20665518395388907
+                ]
+            ],
+            [
+                [
+                    0.20663944878004178
+                ]
+            ],
+            [
+                [
+                    0.20695493727628025
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.5836000007602546
+                ]
+            ],
+            [
+                [
+                    0.5856742876936083
+                ]
+            ],
+            [
+                [
+                    0.5841045928162885
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.8922289545431716
+                ]
+            ],
+            [
+                [
+                    0.892503908630105
+                ]
+            ],
+            [
+                [
+                    0.9073345210127792
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9876302886478069
+                ]
+            ],
+            [
+                [
+                    0.9873701044370495
+                ]
+            ],
+            [
+                [
+                    0.9915652123207859
+                ]
+            ]
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            22456
+        ],
+        "mean": [
+            11228.0
+        ],
+        "std": [
+            6482.777491168428
+        ],
+        "count": [
+            22457
+        ],
+        "q01": [
+            10370.991998502284
+        ],
+        "q10": [
+            10528.353119921549
+        ],
+        "q50": [
+            11227.94247744578
+        ],
+        "q90": [
+            11927.646880078451
+        ],
+        "q99": [
+            12085.008001497716
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            3307
+        ],
+        "mean": [
+            874.0232889522198
+        ],
+        "std": [
+            630.464718214152
+        ],
+        "count": [
+            22457
+        ],
+        "q01": [
+            17.015287454504072
+        ],
+        "q10": [
+            174.3764088737678
+        ],
+        "q50": [
+            873.9506574698314
+        ],
+        "q90": [
+            1573.6701690306716
+        ],
+        "q99": [
+            1731.0312904499356
+        ]
+    },
+    "observation.state.tcp_pose": {
+        "min": [
+            0.21738922595977783,
+            0.150845468044281,
+            0.8833796977996826,
+            -1.6221457719802856,
+            -2.0080161094665527,
+            -2.0308589935302734,
+            0.27448970079421997,
+            -0.3244531750679016,
+            0.8794719576835632,
+            -2.4096174240112305,
+            -1.651740550994873,
+            -1.862026572227478
+        ],
+        "max": [
+            0.40091514587402344,
+            0.314521461725235,
+            1.0748581886291504,
+            1.4994596242904663,
+            2.149266481399536,
+            1.902427315711975,
+            0.48894003033638,
+            -0.044029831886291504,
+            1.0687499046325684,
+            2.481618642807007,
+            2.3825619220733643,
+            1.8532521724700928
+        ],
+        "mean": [
+            0.2889869990602873,
+            0.20577039092032012,
+            0.9674305598871809,
+            -1.2138114400005948,
+            1.844502974789114,
+            -1.7051664106396878,
+            0.33654776918642315,
+            -0.1649562669817166,
+            0.9431649393350989,
+            0.4498072853839827,
+            1.9824967517312182,
+            0.7024464535947824
+        ],
+        "std": [
+            0.03278824040864503,
+            0.015207645786182304,
+            0.03542229119265029,
+            0.3005666889928806,
+            0.20919182954005142,
+            0.19878127258272432,
+            0.037733464226617816,
+            0.04857981649111619,
+            0.03256531055163214,
+            0.3942854686848291,
+            0.31178413227708707,
+            0.2772937575561373
+        ],
+        "count": [
+            22457
+        ],
+        "q01": [
+            0.24943235313867815,
+            0.18132980865759585,
+            0.9269430686383611,
+            -1.432179630858238,
+            1.0795968834490297,
+            -1.8020714464441583,
+            0.29082627409317124,
+            -0.28418591522355513,
+            0.9040476515094643,
+            -0.30815910275333785,
+            0.7349161082191062,
+            -0.0279017449559212
+        ],
+        "q10": [
+            0.25467386578442947,
+            0.1945297240642448,
+            0.9325583683258744,
+            -1.3657116885090317,
+            1.7305197150203906,
+            -1.7715547254207287,
+            0.29915562511437294,
+            -0.22847274886259664,
+            0.9150506257876827,
+            0.21162562622062037,
+            1.787351162613612,
+            0.46740039811530737
+        ],
+        "q50": [
+            0.28742773694300555,
+            0.2046742901321915,
+            0.9647077469988021,
+            -1.2527016463479308,
+            1.874395106236709,
+            -1.7305055623368277,
+            0.32370998696459524,
+            -0.15722381190895235,
+            0.932791795799763,
+            0.3993670849459366,
+            2.0582115548098123,
+            0.6892473585417475
+        ],
+        "q90": [
+            0.32328039497401156,
+            0.21914958223523356,
+            1.0059378370093914,
+            -1.0421486017156667,
+            1.9599686386753123,
+            -1.6480109581730071,
+            0.38897731822428133,
+            -0.12298946383451875,
+            0.9948907149650483,
+            0.6401550657677557,
+            2.155348463328454,
+            0.9131131525028774
+        ],
+        "q99": [
+            0.37176198933700705,
+            0.23630757726924992,
+            1.0521134801517142,
+            -0.6792045623297666,
+            1.9854193381815275,
+            -1.0623195905263103,
+            0.4177948643314598,
+            -0.06822725637604266,
+            1.048239977943224,
+            1.9575184969780761,
+            2.2086072031124053,
+            1.4989474793408257
+        ]
+    },
+    "observation.images.head_left": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.532773673094583
+                ]
+            ],
+            [
+                [
+                    0.532841516721881
+                ]
+            ],
+            [
+                [
+                    0.5359132594061025
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0036900204477365393
+                ]
+            ],
+            [
+                [
+                    0.003713693129352698
+                ]
+            ],
+            [
+                [
+                    0.0037671570642162228
+                ]
+            ]
+        ],
+        "count": [
+            574899200
+        ],
+        "q01": [
+            [
+                [
+                    0.10162765849028968
+                ]
+            ],
+            [
+                [
+                    0.10020028716998794
+                ]
+            ],
+            [
+                [
+                    0.10155344361223309
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.20582952523180226
+                ]
+            ],
+            [
+                [
+                    0.2050685867888192
+                ]
+            ],
+            [
+                [
+                    0.20669575857761294
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.5850201796079455
+                ]
+            ],
+            [
+                [
+                    0.5878512320846776
+                ]
+            ],
+            [
+                [
+                    0.58679811974799
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.8961307596745436
+                ]
+            ],
+            [
+                [
+                    0.8974573831965179
+                ]
+            ],
+            [
+                [
+                    0.9111477506847411
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9895163260656497
+                ]
+            ],
+            [
+                [
+                    0.98876270545028
+                ]
+            ],
+            [
+                [
+                    0.9915703032509897
+                ]
+            ]
+        ]
+    },
+    "action.tcp_pose": {
+        "min": [
+            0.2173493355512619,
+            0.15086513757705688,
+            0.8828670382499695,
+            -1.6201491355895996,
+            -2.0079259872436523,
+            -2.030919075012207,
+            0.2740108370780945,
+            -0.32442423701286316,
+            0.8794512748718262,
+            -2.3951430320739746,
+            -1.6582022905349731,
+            -1.8623687028884888
+        ],
+        "max": [
+            0.40109509229660034,
+            0.3157159984111786,
+            1.074233055114746,
+            1.4992365837097168,
+            2.149524688720703,
+            1.9034051895141602,
+            0.4890024960041046,
+            -0.0442168265581131,
+            1.071975588798523,
+            2.479069948196411,
+            2.3830485343933105,
+            1.8553740978240967
+        ],
+        "mean": [
+            0.28894759522375324,
+            0.20572648240642247,
+            0.9674530789954806,
+            -1.2125922783976348,
+            1.8433773516865475,
+            -1.705807277710062,
+            0.3365646647104848,
+            -0.16492940912864806,
+            0.9433753759925648,
+            0.4458474713184108,
+            1.984912075315658,
+            0.7031078115779125
+        ],
+        "std": [
+            0.032723436640372944,
+            0.015283628272898468,
+            0.035361595258974934,
+            0.3054048197939701,
+            0.21395954821869576,
+            0.1999264959089332,
+            0.03774619872032517,
+            0.048478331062955626,
+            0.0328865755853567,
+            0.3754626503329453,
+            0.3033566696211942,
+            0.2703039123008121
+        ],
+        "count": [
+            22457
+        ],
+        "q01": [
+            0.2494757659593072,
+            0.18044657198900868,
+            0.9267643653759984,
+            -1.432367436231453,
+            1.0789826311643431,
+            -1.8024159192190279,
+            0.2908192050218623,
+            -0.284084273459263,
+            0.9039688092562401,
+            -0.14647819261590023,
+            0.8997653959372826,
+            0.10205350603314972
+        ],
+        "q10": [
+            0.2546659447421603,
+            0.19414095937931675,
+            0.932570338239519,
+            -1.3656356472812774,
+            1.7284347086278267,
+            -1.771663777636501,
+            0.29917809069422063,
+            -0.22815391861498502,
+            0.9149922770778044,
+            0.21152416915315272,
+            1.7873167430666563,
+            0.46777211478177505
+        ],
+        "q50": [
+            0.2874455880394774,
+            0.204692172305872,
+            0.9652987203627165,
+            -1.252478546279225,
+            1.8742904580778492,
+            -1.7304921271195546,
+            0.3237634419910954,
+            -0.15727828763402898,
+            0.932872594929009,
+            0.39952785581853006,
+            2.058150677437364,
+            0.6893855566242285
+        ],
+        "q90": [
+            0.32322444811874096,
+            0.21901221791940115,
+            1.005916728854093,
+            -1.0422412517034638,
+            1.9598595842417077,
+            -1.655114125523507,
+            0.3891791639397755,
+            -0.12312722409659424,
+            0.9964889444912106,
+            0.6339973870981842,
+            2.155483891063592,
+            0.9119977265667607
+        ],
+        "q99": [
+            0.3723638194279229,
+            0.23645047319967136,
+            1.051527189373431,
+            -0.6711209212138144,
+            1.9854698830176314,
+            -1.0660604157062672,
+            0.41813636701633183,
+            -0.06824371681544965,
+            1.0484759447316894,
+            1.8708453877386144,
+            2.2086798721225698,
+            1.476691868475126
+        ]
+    },
+    "observation.images.tactile_deform": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    0.7058823529411765
+                ]
+            ],
+            [
+                [
+                    0.7058823529411765
+                ]
+            ],
+            [
+                [
+                    0.7058823529411765
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.0010798808626081135
+                ]
+            ],
+            [
+                [
+                    0.0010798808626081135
+                ]
+            ],
+            [
+                [
+                    0.0010798808626081135
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.002557613933722425
+                ]
+            ],
+            [
+                [
+                    0.002557613933722425
+                ]
+            ],
+            [
+                [
+                    0.002557613933722425
+                ]
+            ]
+        ],
+        "count": [
+            202113000
+        ],
+        "q01": [
+            [
+                [
+                    -6.008258047842196e-11
+                ]
+            ],
+            [
+                [
+                    -6.008258047842196e-11
+                ]
+            ],
+            [
+                [
+                    -6.008258047842196e-11
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    -6.008258047842196e-11
+                ]
+            ],
+            [
+                [
+                    -6.008258047842196e-11
+                ]
+            ],
+            [
+                [
+                    -6.008258047842196e-11
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    -6.008258047842196e-11
+                ]
+            ],
+            [
+                [
+                    -6.008258047842196e-11
+                ]
+            ],
+            [
+                [
+                    -6.008258047842196e-11
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    -6.008258047842196e-11
+                ]
+            ],
+            [
+                [
+                    -6.008258047842196e-11
+                ]
+            ],
+            [
+                [
+                    -6.008258047842196e-11
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    -6.008258047842196e-11
+                ]
+            ],
+            [
+                [
+                    -6.008258047842196e-11
+                ]
+            ],
+            [
+                [
+                    -6.008258047842196e-11
+                ]
+            ]
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            13
+        ],
+        "mean": [
+            5.928218372890411
+        ],
+        "std": [
+            4.089844014693927
+        ],
+        "count": [
+            22457
+        ],
+        "q01": [
+            5.928218372890411
+        ],
+        "q10": [
+            5.9282183728904165
+        ],
+        "q50": [
+            5.928218372890433
+        ],
+        "q90": [
+            5.928218372890449
+        ],
+        "q99": [
+            5.928218372890453
+        ]
+    },
+    "observation.tactile": {
+        "min": [
+            -16.35144805908203,
+            -3.6099660396575928,
+            -9.052093082573265e-05,
+            -0.1978471279144287,
+            -0.030496027320623398,
+            -0.22594048082828522,
+            -4.523251533508301,
+            -2.701941593841184e-05,
+            -5.751556091126986e-05,
+            -0.1890290081501007,
+            -0.016693035140633583,
+            -0.09369772672653198,
+            -0.02715514786541462,
+            -4.202780837658793e-05,
+            -9.48319211602211e-05,
+            -0.002290795324370265,
+            -6.460673466790468e-05,
+            -0.000580477062612772,
+            -0.08072253316640854,
+            -3.612725413404405e-05,
+            -7.941689545987174e-05,
+            -0.001312105916440487,
+            -0.00014832911256235093,
+            -0.0010667359456419945,
+            -3.0652477741241455,
+            -0.07133032381534576,
+            -0.00012936339771840721,
+            -0.09192784875631332,
+            -0.016705695539712906,
+            -0.06322786211967468,
+            -21.404497146606445,
+            -0.6245359778404236,
+            -0.4610852599143982,
+            -0.570697546005249,
+            -0.06759144365787506,
+            -0.37389039993286133,
+            -5.157717704772949,
+            0.0,
+            0.0,
+            -0.3145488202571869,
+            -0.029075829312205315,
+            -0.09149160981178284,
+            -0.481829971075058,
+            -5.617882197839208e-05,
+            -0.00012569870159495622,
+            -0.007741774898022413,
+            -0.0017081479309126735,
+            -0.011483320035040379,
+            -0.02176213450729847,
+            -5.092193168820813e-05,
+            -0.00011305104999337345,
+            -0.002412612782791257,
+            -0.00014536538219545037,
+            -0.0004791239043697715,
+            -0.011894643306732178,
+            -4.300488217268139e-05,
+            -9.506955393590033e-05,
+            -0.0016208542510867119,
+            -9.963080810848624e-05,
+            -0.0002498389221727848
+        ],
+        "max": [
+            0.009209709241986275,
+            5.264305114746094,
+            16.04524040222168,
+            1.7371780813846271e-06,
+            0.03299768269062042,
+            0.00012561323819682002,
+            0.04693025350570679,
+            10.886578559875488,
+            9.232726097106934,
+            1.1382514912838815e-06,
+            0.004929603077471256,
+            0.0026338347233831882,
+            0.024869978427886963,
+            0.033429957926273346,
+            0.09767384082078934,
+            1.7904942524182843e-06,
+            0.00019295899255666882,
+            0.0003382544091437012,
+            0.015623399056494236,
+            0.021282803267240524,
+            0.059858933091163635,
+            1.4415211353480117e-06,
+            0.0002160102012567222,
+            0.00022125322720967233,
+            0.027706416323781013,
+            3.8849918842315674,
+            4.313722610473633,
+            2.50580797001021e-06,
+            0.0017193563980981708,
+            0.0003427453339099884,
+            5.024492263793945,
+            23.323232650756836,
+            28.80525779724121,
+            0.008461917750537395,
+            0.0311280507594347,
+            0.10651392489671707,
+            9.946470260620117,
+            15.434954643249512,
+            16.164892196655273,
+            0.0,
+            0.024696066975593567,
+            0.1756361424922943,
+            0.053277790546417236,
+            0.17963671684265137,
+            0.29486414790153503,
+            2.2965436983213294e-06,
+            0.0007055473397485912,
+            0.0007580142701044679,
+            0.05064975842833519,
+            0.04192432761192322,
+            0.11836164444684982,
+            2.0765983208548278e-06,
+            0.0005877412622794509,
+            0.0007394332205876708,
+            0.01454130932688713,
+            0.02531607076525688,
+            0.07159843295812607,
+            1.784948153726873e-06,
+            0.0003399798006284982,
+            0.0001784511550795287
+        ],
+        "mean": [
+            -0.10302576191184251,
+            0.017120887747482175,
+            0.15273576367750716,
+            -0.0020105790570487804,
+            -0.00022465623914284634,
+            -0.0013609486774501594,
+            -0.014945873109231829,
+            0.05571219413811236,
+            0.08340879557382207,
+            -0.0018109210723465073,
+            -4.1809036041732084e-05,
+            -0.0003053529162189562,
+            -0.0007303764372001052,
+            0.0016793102533547994,
+            0.004918053763277256,
+            -9.422507361952443e-05,
+            6.956165996567609e-06,
+            -1.6493769075523385e-05,
+            -0.0002562862318607262,
+            0.0009000885640768976,
+            0.002652888080593946,
+            -4.7663101888283876e-05,
+            -1.7448238294204643e-06,
+            -3.5609588138763673e-06,
+            -0.0017472707020575093,
+            0.002018020234699725,
+            0.0036480452065921144,
+            -7.486811101420522e-05,
+            -4.682598507789697e-06,
+            -3.1863776328205114e-05,
+            0.6018722413425672,
+            1.1644488966952833,
+            1.3157832355810761,
+            -0.02825936726247388,
+            0.002885556455682346,
+            0.0107788683284407,
+            0.1777609937570131,
+            1.6045210007547446,
+            3.137784677021713,
+            -0.065340681410037,
+            -0.0010620511731764509,
+            0.00422467077104182,
+            -0.0023154805851753214,
+            0.005398002991187562,
+            0.014040517602888896,
+            -0.00029819515197096247,
+            2.2042707528660416e-05,
+            -5.134127935217201e-05,
+            -0.0017262302733069275,
+            0.006707918258952982,
+            0.019488590498723896,
+            -0.0003485468926498218,
+            1.3359871754996468e-05,
+            -3.927787064556896e-05,
+            -0.0007073411440656369,
+            0.0028871973792588086,
+            0.008333382495732998,
+            -0.0001732725239544406,
+            4.338981285908207e-06,
+            -1.6200896054780472e-05
+        ],
+        "std": [
+            0.8970037135605231,
+            0.2348899068761065,
+            1.3211248306631542,
+            0.01650534895196424,
+            0.0023471723792924397,
+            0.011828832894169904,
+            0.16125005606710135,
+            0.5082286813499436,
+            0.6340306287288724,
+            0.014041675340564245,
+            0.0008068434232927538,
+            0.003274591321817879,
+            0.0021731153006027647,
+            0.003247042563988523,
+            0.009496296627147153,
+            0.00019156684624125695,
+            1.711444387642018e-05,
+            4.632369629839284e-05,
+            0.0012847627938510264,
+            0.0019459239608004225,
+            0.005675000062243143,
+            0.00010576787476682174,
+            1.1152373768335258e-05,
+            1.9862007157219774e-05,
+            0.06385822118428024,
+            0.06351546279282343,
+            0.07301969728010851,
+            0.001529006718514945,
+            0.00023722384921638835,
+            0.0011844143312466139,
+            1.616183719961367,
+            1.7554783572037889,
+            1.8693822435802865,
+            0.039493095651495023,
+            0.0064508722550382916,
+            0.03005992759862249,
+            1.107856525343345,
+            2.51362990325255,
+            4.510401784312231,
+            0.09185409316510705,
+            0.0041990414355332194,
+            0.022501440006423956,
+            0.0163928827188721,
+            0.010060586996172282,
+            0.01701942374989396,
+            0.0003548920132869989,
+            4.325728263587955e-05,
+            0.0002981114853720251,
+            0.0032041169619269273,
+            0.006761134531102088,
+            0.019559355785867042,
+            0.00037273725368210385,
+            4.419061518855272e-05,
+            6.467186431675576e-05,
+            0.001478208087032597,
+            0.0038302093018836763,
+            0.011068097946695138,
+            0.00023739703848065346,
+            2.9119558424794524e-05,
+            2.8767616500814213e-05
+        ],
+        "count": [
+            22457
+        ],
+        "q01": [
+            -1.5368406686215483,
+            -0.24679902217561625,
+            -8.256759351438332e-05,
+            -0.028514518667619518,
+            -0.004105068144833099,
+            -0.020487378167285953,
+            -0.30760961223398925,
+            -2.1382201795181425e-05,
+            -4.300197883934109e-05,
+            -0.02361135658414816,
+            -0.0017835314999966234,
+            -0.005142429717976688,
+            -0.00854876460762924,
+            -3.918195728694218e-05,
+            -8.778237494117596e-05,
+            -0.0007908119416895972,
+            -8.674127271864787e-06,
+            -0.00018380695364743517,
+            -0.0035439194570588595,
+            -3.0351464002500032e-05,
+            -6.715207986463881e-05,
+            -0.00043007360703303506,
+            -3.857936589367198e-05,
+            -6.250014986698521e-05,
+            -0.0017845671360319248,
+            -6.168847982518697e-05,
+            -0.00012159290300253601,
+            -0.00038626904361374744,
+            -1.452180520494393e-05,
+            -3.25984409348443e-05,
+            -4.545107594746466,
+            -0.0005369828639025234,
+            -0.000244006674744195,
+            -0.12005733341354022,
+            -0.01482582431203382,
+            -0.0816804953189661,
+            -1.8374265190527008,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -0.26508443457283937,
+            -0.013545601353649243,
+            -0.037579795292533184,
+            -0.03546325623026067,
+            -4.9064094885802154e-05,
+            -0.00011046348186841391,
+            -0.0012819130813753422,
+            -3.87917704704927e-05,
+            -0.0006252128849626856,
+            -0.009497786306251038,
+            -4.324541135043952e-05,
+            -9.376105287923711e-05,
+            -0.0012592561785059323,
+            -5.500334801722121e-05,
+            -0.00021317594477381665,
+            -0.0050075616530760965,
+            -3.95353400592462e-05,
+            -8.839442826920853e-05,
+            -0.0008764914261045998,
+            -3.742105719689463e-05,
+            -0.00010325915870934669
+        ],
+        "q10": [
+            -0.10733965934641365,
+            -0.00023229866466160782,
+            -8.008992539247512e-05,
+            -0.002146550936222094,
+            -0.00013031149619612838,
+            -0.0017852510058142977,
+            -0.004257346064434862,
+            0.00020614346361499906,
+            0.0006141149125710559,
+            -0.0008678933424943032,
+            -1.2827013754114366e-05,
+            -9.381045563871122e-05,
+            -0.002989431259270073,
+            -3.843637490656397e-05,
+            -8.577631221542306e-05,
+            -0.00029569428895788046,
+            -1.8339298429912928e-06,
+            -6.487293441951848e-05,
+            -0.0013224853660496168,
+            -2.9737929231999344e-05,
+            -6.637426324063923e-05,
+            -0.00016365766444720786,
+            -7.232085455550269e-06,
+            -2.2198096390302803e-05,
+            -0.0001585086445544027,
+            -4.9208527736863365e-05,
+            -0.00011909027796338038,
+            -0.00010594572773436011,
+            -2.898486944448826e-06,
+            -5.360755401662489e-06,
+            -0.11384208950842675,
+            0.0026156240919561918,
+            0.007800824239510247,
+            -0.08843482908550063,
+            -0.00046818572995176416,
+            -0.0026333877553789318,
+            -0.771669998590826,
+            0.0037851423329559038,
+            0.012805891794552727,
+            -0.2174749038128493,
+            -0.005834243800587445,
+            -0.014561275135731643,
+            -0.006479625342363533,
+            0.0002187750575141252,
+            0.0006684196638848545,
+            -0.0006766663039823282,
+            -3.5827149854251886e-06,
+            -0.00012794272733267722,
+            -0.005101881062367422,
+            0.0004684277792032516,
+            0.0013732073059452641,
+            -0.0007728217265464643,
+            -2.040340917914428e-05,
+            -0.00011055286580875972,
+            -0.002448956622530668,
+            -1.2064421188583229e-05,
+            -1.7972852986693214e-05,
+            -0.0005020017231274896,
+            -1.563155554662437e-05,
+            -5.186044874539388e-05
+        ],
+        "q50": [
+            -0.0007199968305664087,
+            0.0013138761002144943,
+            0.0034694486628168027,
+            -6.94374661248301e-05,
+            -1.1166654817493505e-05,
+            -1.0990620507372628e-05,
+            -0.000287151522807971,
+            0.0030055544162391258,
+            0.008795861105405365,
+            -0.00016124199093885586,
+            1.2661806626803239e-05,
+            -1.1986959686764796e-05,
+            2.6443256774892592e-05,
+            0.0004084512573527348,
+            0.0011836953364813068,
+            -2.1281700726219076e-05,
+            1.7262885538887662e-06,
+            -3.1257276485458834e-07,
+            0.00015353286201353036,
+            6.630363903982265e-05,
+            0.00021036057639018253,
+            -3.551873523148423e-06,
+            -1.3101381971390944e-06,
+            3.5678256025434083e-06,
+            0.00029776107585877733,
+            0.0001009514955128945,
+            0.0001805036681795793,
+            -5.2868029031787375e-06,
+            -1.5975684821425935e-06,
+            6.4501570200023844e-06,
+            0.024071955402521564,
+            0.07242093409820483,
+            0.17379897829956428,
+            -0.0038905702319833747,
+            0.0003208980217827159,
+            0.0003753663801666521,
+            0.0207197352521012,
+            0.10197230019959125,
+            0.2846790025761657,
+            -0.006322786457925874,
+            -0.00011613733377178512,
+            0.0004704996330952403,
+            -0.00041899855237323685,
+            0.003533854275020257,
+            0.01026618377475431,
+            -0.00021891297294072715,
+            1.4585124390457051e-05,
+            -1.7266996576465272e-05,
+            -0.0012565372698563268,
+            0.005519160278633733,
+            0.016020457606499287,
+            -0.000278726000926214,
+            6.1744863219058684e-06,
+            -2.6192595263067685e-05,
+            -0.00027230848124788325,
+            0.0013850448118185449,
+            0.003975509957006225,
+            -7.729858629714635e-05,
+            -1.8379651767511515e-07,
+            -6.777167919339439e-06
+        ],
+        "q90": [
+            0.0005432664354711966,
+            0.014357049816762795,
+            0.0940476366289153,
+            2.514991224512475e-07,
+            6.871813920243922e-06,
+            7.809121143325629e-06,
+            0.0014953813973321154,
+            0.015571284429840728,
+            0.044726979675465434,
+            -1.3420046745219439e-05,
+            9.703408079443899e-05,
+            8.40159864771663e-06,
+            0.0002920486003077557,
+            0.005251473636663652,
+            0.01537024749095548,
+            1.5259735212014717e-06,
+            2.386284221375876e-05,
+            6.114175366327223e-06,
+            0.00023303967833525915,
+            0.003100853163949639,
+            0.009085449059265125,
+            1.1340842691829192e-06,
+            3.4897588982854944e-06,
+            4.8401169710636735e-06,
+            0.0003882836503702825,
+            0.0018668716426963484,
+            0.005347141927536589,
+            1.9660152710859594e-06,
+            7.811722077803422e-06,
+            8.571913441740385e-06,
+            2.8244722308656174,
+            3.8470641791025155,
+            4.195875668340966,
+            -0.00014198341682790074,
+            0.011987944089122422,
+            0.05300272476982602,
+            1.270372764067971,
+            5.4050161895819056,
+            10.57172331988995,
+            -0.000252371116395207,
+            0.0015841502373736274,
+            0.02774547915237362,
+            0.0004170809447176326,
+            0.011875809193827603,
+            0.03152022589733864,
+            -1.3373756103736313e-05,
+            6.085556045595855e-05,
+            5.037087577021067e-06,
+            0.0005017999454867936,
+            0.014579029667533388,
+            0.042359909806274465,
+            -2.180229703247114e-05,
+            5.5804224708298216e-05,
+            7.4613569244438955e-06,
+            0.0003575216524894109,
+            0.008153982563008777,
+            0.023635238231499274,
+            2.7775946698302746e-07,
+            3.158450509003952e-05,
+            5.96762454432808e-06
+        ],
+        "q99": [
+            0.0006813536904230626,
+            0.44147988946117744,
+            2.291923444745941,
+            1.4591249147513156e-06,
+            0.001284642698649471,
+            9.075531316913328e-06,
+            0.007698776834727477,
+            0.851452478569333,
+            1.0711552747878705,
+            5.93866464426762e-07,
+            0.0002003595304691862,
+            8.550512992625356e-05,
+            0.0010407658248059689,
+            0.013231963259305032,
+            0.03861023297537457,
+            1.6357295085343587e-06,
+            6.173269741607702e-05,
+            1.201816760300438e-05,
+            0.0002396644572963845,
+            0.007853653835033477,
+            0.02299291378273021,
+            1.2109913861201334e-06,
+            2.707341062171454e-05,
+            4.9719964648337225e-06,
+            0.0004118754215016976,
+            0.006708364394521038,
+            0.01963823028842697,
+            2.290199299367418e-06,
+            3.0526187713580654e-05,
+            8.842701901625927e-06,
+            3.9180420388058326,
+            6.285877095395651,
+            5.775626409333233,
+            -1.4485446066347316e-07,
+            0.018438111089504907,
+            0.07369330715610181,
+            4.062713556670598,
+            9.59385223684898,
+            13.542758942818434,
+            -8.602232835718094e-06,
+            0.007131482013470538,
+            0.08341258719460636,
+            0.002267442877008476,
+            0.03305845172495735,
+            0.0637261892453036,
+            1.9095262092511865e-06,
+            0.0001280796489883683,
+            1.8011761006984467e-05,
+            0.004442849269134204,
+            0.02328951472129621,
+            0.06785325170696292,
+            1.6692534774913996e-06,
+            0.00014503681728019136,
+            5.022806565607893e-05,
+            0.0011627344145481464,
+            0.014082017664603477,
+            0.040524609889889034,
+            1.626387689683799e-06,
+            7.683631175924417e-05,
+            1.0078554358412101e-05
+        ]
+    },
+    "observation.images.wrist_right": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.17988794796122357
+                ]
+            ],
+            [
+                [
+                    0.17993541280716654
+                ]
+            ],
+            [
+                [
+                    0.17897563787755172
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.001839627187605783
+                ]
+            ],
+            [
+                [
+                    0.0017707825389396156
+                ]
+            ],
+            [
+                [
+                    0.0021419032515039853
+                ]
+            ]
+        ],
+        "count": [
+            574899200
+        ],
+        "q01": [
+            [
+                [
+                    0.0079256541561507
+                ]
+            ],
+            [
+                [
+                    0.007934776999058257
+                ]
+            ],
+            [
+                [
+                    0.007920160655869292
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.07019762064386609
+                ]
+            ],
+            [
+                [
+                    0.07046947007225636
+                ]
+            ],
+            [
+                [
+                    0.06968917761836435
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.14836607967528176
+                ]
+            ],
+            [
+                [
+                    0.14858866071262436
+                ]
+            ],
+            [
+                [
+                    0.1477920921266789
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.3377564046263412
+                ]
+            ],
+            [
+                [
+                    0.3380154490199819
+                ]
+            ],
+            [
+                [
+                    0.3364258853601328
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.6002071952193027
+                ]
+            ],
+            [
+                [
+                    0.5971059803855674
+                ]
+            ],
+            [
+                [
+                    0.6194707913683246
+                ]
+            ]
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            22457
+        ],
+        "q01": [
+            3.9999999999994167e-16
+        ],
+        "q10": [
+            3.999999999999418e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.5999999999994754e-14
+        ],
+        "q99": [
+            3.959999999999423e-14
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            110.23333333333333
+        ],
+        "mean": [
+            29.134109631740653
+        ],
+        "std": [
+            21.015490607138403
+        ],
+        "count": [
+            22457
+        ],
+        "q01": [
+            0.5671762483886812
+        ],
+        "q10": [
+            5.812546962381543
+        ],
+        "q50": [
+            29.12786643392556
+        ],
+        "q90": [
+            52.455672301099774
+        ],
+        "q99": [
+            57.70104301509264
+        ]
+    }
+}
\ No newline at end of file
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/subtasks.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/subtasks.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..396092ac3bf7cfc2913aee2647f213dc9409fb64
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/subtasks.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1fa80eae79846e07fc0b30c07c4a49c97746368060738fe41e1a9a7b9b78c22
+size 3027
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/tasks.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/tasks.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..94211ce9a3e6f383002597822bbfb5a1da124914
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/tasks.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27033d8f93605dbfdaa9e39e6c3e20a326ed42450c682075572e330d315178f2
+size 3614
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/v40_validation.json b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..110a1d299451a121c4fb16f893654a7b6928e426
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 14,
+  "frames": 22457,
+  "video_frames": {
+    "observation.images.head_left": 22457,
+    "observation.images.wrist_left": 22457,
+    "observation.images.wrist_right": 22457,
+    "observation.images.head_right": 22457,
+    "observation.images.tactile_deform": 22457,
+    "observation.images.tactile_raw": 22457
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 14
+}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-000.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c57a718807e8dc6cfeb93d5a34c96b9ac597e25f
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e8ce845a27cd6a879a5c05ac3241646ede287e9e66581ff740c83560f46b9dc
+size 84667991
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-000.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4ddb0a173f2fd90e70ec8fffe8626c2c1728b387
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f8054f76970a7702310c90ea40f8445a68608178f05db6115ea2013e6eb4a25
+size 84480571
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_deform/chunk-000/file-000.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_deform/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..36278dc1cf2b75ece582e776ee5fd9c3a164aea4
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_deform/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25090ae70244f3401ba374b8c9d3a4819911b0b3e90a3b74566906632b10fcd2
+size 4518620
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-000.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed20fc5aece0c42ed90cda12a35cc376cbe33af4
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7abb4c9990212673da21f913fd100a7c100c1d170b2dd7f5a514b9865a8bf480
+size 71073671
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-001.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e063ae477c2e0ae5895ea3b329de2026254d4d80
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ef85deb644ed68597e6b83a55595aebd7eedab2d547bb672996ad9dbaadca7d
+size 154038047
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-002.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82223bf15b137b0504f3e8cd1bf1948894f97ffc
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2177f86ce363c11b24609c056a828e9765c8d8dade404c4d95a1b7e2151d2f50
+size 141277684
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-003.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..907a7b5ce1df4fe7ba87305e04ccaea34f188c26
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c44c13fd5a2a8baa391083abe0304f1b575eb8804319727df1ff37e6a3dde5bd
+size 137714474
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-004.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0248f7ec44e7adb03ee51dd17726152d27d825c
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f0fc1d1b4fa52deefe8eabbecfac2659904a031082df8bcb7a655253187e38c
+size 144455723
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-005.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2cc21d68c270694222206b87d910c69788bc6c80
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1f5488b89e1ffe5387885cdc3135ebfc59f8121689ce477735ecc63f7b8d1a0
+size 204920294
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-006.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2f227398b4e9d74b55aba1bb0d5eabc3841ca0fd
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:785459667fb4b6e3fb08ea51a96d72abc9631ecdeb7337045368a3b179c7cd9a
+size 190877638
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.wrist_left/chunk-000/file-000.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.wrist_left/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b8f89c98241ba9dd91b617ccc157022cbc2370a3
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.wrist_left/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e5e9815488b7ae5b0dd17fd534400f307560b96ecc7f94bd1765723ed88e234
+size 94347399
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-000.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ff72c74289a5ce1b54397e2c898946870aba1e96
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_21_24_02_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da11d9533f0f8fb247d2d6e8da582c8753097c3477bb901d368772e989360605
+size 80652610
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000000.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bb50acb772b0821e6f420dd5ce8dfca43ab23e88
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1fdc4bbc1cecbab27902264eb77fefaed64797d3e4ec086786b3d8914d42bec
+size 2335323
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000001.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000001.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4dd62bc5bf33b94955acc3066c1c62db56ec02ae
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000001.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb1cba6c85e5b25de96dea5838bd744e5b48d2ce49fc5ccebad773df96709c46
+size 2016521
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000002.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000002.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f405118d1800c0232daf5451a757347553b00e55
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000002.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc72782b706cbea7342bf02753855d7d5d2b1831c3273b1624148e87ebafa767
+size 2072753
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000003.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000003.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..09f5af32410e2890367a95998105d20ff71f458a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000003.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d031b57c2a0f25e30eddee4e88e4d135292335304208ebc5716d91aea9fbbd6
+size 4443856
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000004.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000004.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bd6466f07a3a86c254e612c176dd6901cbd61ed6
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000004.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d2022bf88fa0031e7533c27ee3e41789ef9631afcdee5f0109e21590742027f
+size 2083814
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000005.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000005.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..dba5bfa3fb4e0a0a1bd53413dd07af5aa765ad1a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000005.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c61a5f4fe3a2b17eaaaf6090fa6ef7073e71339bd89f4beb6dbf88b5cce277a
+size 2175044
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000006.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000006.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ef737ac88eab32f9c448fb8b9ce54559155b5a94
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000006.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:795e773411272307c522ac4ebc5d8aebd1bad6d79b3c29a724dfc5a205b7f757
+size 1535056
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000007.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000007.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9869e5562d7760e38829c851c404fc0d817fd5cd
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000007.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8f6af85403f316a8b4f3f0bbc29fa4c5877c92d7dc66875b5a3938b3a6091b1
+size 2250313
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000008.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000008.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5334f113a1e69ddde33403478841fb85d8a21d91
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000008.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9708f13bde33059bf5068854e15377b9384826bfae08c6e49414331329973e81
+size 1572876
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000009.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000009.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a4184ed7274bedb2526d97d28bd5a9d0f94c498f
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000009.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:163e1f11f6401635226e9d5a583402ba2f61eaa5ff6100f197aa59d298688693
+size 1385444
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000010.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000010.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0812f9be79f1b904e83e7eeef6353a061d246152
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000010.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be7ba672fefd66e51fde7c8f5cb2fec55c9af4b0e690364889c89df5c370e2b9
+size 2177876
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000011.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000011.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..963cd94f5559ce352351e5cd189b0bf11e813d36
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000011.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5aed930e01d3c798034c50e2d80ac66c4f6f9d286b137c0097ceed0ee2e9f3b4
+size 1265669
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000012.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000012.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8aaa9bd776bfe2a57d48822b978e9de971986694
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000012.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74c36cfbd757d3f0170ac92433c4b6b4551b524d9c8109d3ec8cba5c038e9699
+size 1628526
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000013.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000013.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..10f64136d6cc4d139a186ea7f3f97599a808ab24
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000013.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4e36263253eab9e5646378fc3285c9a15c7aa697facaf7c0b4397a926a01afe
+size 2348454
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000014.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000014.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f5a09beadd140b3281ac7d2cc2fe5a937a450f84
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000014.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbbb0aadfe1d133a977c28915ea0790f7e5830e0905aa2f2b76c00fc13b8b4c2
+size 2921532
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000015.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000015.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6ce819caa7636e6a097c053ca28ec2c21c51153a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000015.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c84330534a48f7951912356523eed1e1b901c8ff21c5485ac79b05cdbc3ff1c3
+size 3302878
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000016.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000016.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..24fb701aa2303dad57cb0539240e479f78757eac
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000016.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62be8632b7292fd0c23679260995d906da208c75c11930ff4b052141a18971ce
+size 1749168
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000017.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000017.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bd1ffeff760a59e20c77bb2431a9fe689c411898
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000017.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba7d933190d5945887bba103fc288b0d615a231138a3a43612faa3d84ea44d59
+size 1986870
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000018.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000018.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4bad2072d8315d6c099ec8bbe58fdc25c81ca3da
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000018.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47fc47c23fab2bb158df213ed8738350a5f56b15f784012d7d2f8c04e813f7fd
+size 2037760
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000019.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000019.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1eef6e724bc5d89a0b532d8cbe48788a21b6a217
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000019.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f24cb934e59b7fdaac01a68a4de14d1e1909557159268ea1589d3bac7389ff8
+size 1566893
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000020.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000020.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e34e11aaa1845531b1cc471d5ac2159ecc6dfde9
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000020.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46f4a676791bd549b3bf8a018f22cf68bcd966ca942a73ea08b7614c90ad99aa
+size 2345869
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000021.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000021.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..00f318ea738b2eeaa1319a81ffdb728677686d69
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000021.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6599ec710ec0e89a555aaf8d62deca873ad91d1f2bc1652fbb7dbaaee9d135a8
+size 1933525
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000022.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000022.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1732b57a0cad3a543e2a9a4748390dfdcd28473d
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000022.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7c5adacaff0f92b7171f3596c868b1206f5f6caec6f5595fe320d6f6a0cc9c9
+size 1454576
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000023.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000023.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2b80915e307e579bad196c728a66f8b9ebc6990d
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000023.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ec4c179a54ea21d30dcc8632c7b9e197ec1995dd43dd231fdc92b14dccd9a3b
+size 2126490
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000024.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000024.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2405771edc6f9a9ceb3700f842fe96c2dd61bebe
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000024.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:196225e567bbdb648ec389c97ed0f729d41a8ddf77668f32e32b6e94bfee0e08
+size 2137419
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000025.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000025.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..25d30ac6d162db6a90991a09b73fbcd4d4b8bfe3
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000025.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac0331dfaf77ccc670ca38cac1b8714ce781c050cd5cac94a5f4becf060ebca6
+size 1689258
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000026.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000026.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4dcbbdfbf3fc6eaaa920a90fef87e0663ce18b93
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000026.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9641e72b2bfa1a86f35cdf2b9e4da894a4e836aa5b081a520c9bb436ed04a80
+size 1500772
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000027.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000027.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b7773686d1ee495fc121b194720ea7c9d1f24ff1
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000027.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4da4aae6f880e666876146b1c209811c6d108b0e96f26e524ed9d2f4d289f8eb
+size 3768675
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000028.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000028.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c49c86798ff6fb9af9aa00f6a9746d755506a5e1
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000028.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:865bacf86b90ee60776278171cc219ebb0ef7ab8105591b85e92c6e9ba366716
+size 3439548
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000029.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000029.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b4a2069f191643f4fe836bda0c20b00580c6ccbf
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000029.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ab84d513cbafde725d546bcbbf8704b5be2d873ea0bc2d81337f718dfeca33d
+size 3062231
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000030.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000030.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..413affa36b20a0e4f4a6f97e2ea4f612e441b9d7
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000030.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:942b75479bb8368fced3dff9fb4d5820446ab86b1e3e961ae1ca57c74e95dad0
+size 2743206
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000031.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000031.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..673918a71e87eacfe629afc589916d67470b289e
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000031.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51f3f6acd831aeaa819b3842aa9bd8065a08f07cebb7ae83d22383dbd5c51725
+size 2972271
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000032.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000032.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a8c2b8c2b1dc1fc7ee122839d0abab30d1f1389c
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000032.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0a0fbab8601681299f5bc062f2c2a1b9e3681631c1d1fc9896e061f792efd82
+size 1852542
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000033.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000033.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..10d0fdb66110447a91789a8079c7c87ad70cab8c
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000033.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ff82742efa69bffbaadb63394747e10ab8ffd6ac986d3a2a24f94c3c7075ee9
+size 2400163
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000034.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000034.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0a850041174a40cad3552c252c78044094d1b4a8
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000034.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf1ba316611557af7e45c76d1ae5602548ba2c575b59d0968d65fab6f32b0fbb
+size 3065346
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000035.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000035.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d105cf9909af705999fda762d4968d002c68245e
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000035.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f78d5b1e8aebcf5ce1d7efa7de40528caf14aebf79f74065d8bd12255f36077
+size 1862222
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000036.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000036.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..276365fed57a4e50e42b9954c76d7786b2d31642
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000036.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33432fb08e37b8ff5fde3090f33b193bcb8be4f73676d400375b704131a259a3
+size 1583846
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000037.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000037.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..49e4ad6d93e63629690ae39d64bd19876ebb10d6
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000037.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c56fe83761535fe2e6d047e6af7eec2cece8acf94bbd0c8f8c6503480d8a31c
+size 1864702
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000038.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000038.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3ddc3d61e105fe72d3d30db6d93bc75497190599
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000038.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:613f3a5d884178ed11855b4ec1151e65a4f8e56867feb8a8db9fada8ab6356bf
+size 1806769
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000039.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000039.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5619a248e34f39060518870be504daa64cce6041
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/data/chunk-000/episode_000039.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:620a8a96c3dfee4ec692fb0018f610a32432c704b3276f0980491118bd453407
+size 1609646
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/annotation_cache.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/annotation_cache.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b0146b3f46dfbf2ce3d73d40ed068e92b2eb3c66
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/annotation_cache.jsonl
@@ -0,0 +1,40 @@
+{"source_uid": "7e673ad70dab6667", "num_frames": 1792, "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": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward to the natural resting position at the left side of the table. | Right hand: reach: Right hand moves downward and leftward from the right edge of the black table toward the blue building block on the table."}, {"label": "valid", "start_step": 0, "end_step": 1754, "id": "JPombVzQAdoO-98rHYp6f"}, {"label": "subtasks", "start_step": 30, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves downward and leftward from the right edge of the black table toward the blue building block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves leftward and downward toward the small green Lego block on the table."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the small green Lego block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers and makes slight adjustments to grasp the small green 1x1 block on the table."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the small green 1x1 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the small green 1x1 block upward from the table until the block completely leaves the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the small green 1x1 block in the air, moving it slightly leftward and downward while rotating the block slightly to adjust its orientation."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the small green 1x1 block downward onto the black table until the block is stably supported by the table."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the small green 1x1 block on the table, with fingers gradually opening and separating from the block."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the small green 1x1 block after releasing it."}, {"label": "subtasks", "start_step": 390, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and moves it above the larger green block."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place_mate: Right hand places the small green block onto the top of the larger green block and adjusts it for assembly alignment."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the small green block on top of the larger green block without moving."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the small green block on the black table, with fingers gradually opening to release the block."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand moves upward and rightward away from the green block on the table while empty."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves toward the blue 2x2 block on the table, approaching the block."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the blue 2x2 block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue 2x2 block on the table without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue 2x2 block on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the blue 2x2 block up from the dark table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the blue 2x2 block leftward and downward toward the green block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the blue 2x2 block onto the green block until it is stably supported."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue 2x2 block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the blue 2x2 block by opening its fingers."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the blue 2x2 block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves leftward and downward to approach the blue block stacked on top of the green block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the blue block stacked on the green block, with fingers adjusting to stably hold the block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue block stacked on the green block without moving."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the blue block, with fingers opening and fully separating from the block surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves rightward and upward to approach the orange block on the black surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the orange 2x2 block on the table, with slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the orange 2x2 block off the black table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the orange 2x2 block leftward and downward to above the green building block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the orange 2x2 block onto the top surface of the green block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: mate: Right hand adjusts the orange 2x2 block horizontally to align and mate with the adjacent blue block on the green base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the orange 2x2 block on the green block without moving."}, {"label": "subtasks", "start_step": 1582, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: press: Right hand presses the orange 2x2 block downward to fit it firmly onto the blocks below."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the orange 2x2 block, with fingers opening and separating from the block surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the orange block after releasing."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release_retreat: Right hand releases the orange block stacked on the green block and retreats rightward away from the block stack."}, {"label": "home", "start_step": 1755, "end_step": 1791, "id": "NRe5Icfbd2tZTGE_FBRNK"}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose with fingers extending and wrist rotating slightly. | Right hand: release_retreat: Right hand releases the orange block stacked on the green block and retreats rightward away from the block stack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose with fingers extending and wrist rotating slightly. | Right hand: idle: Right hand remains empty at the right edge of the table without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward to the natural resting position at the left side of the table. | Right hand: reach: Right hand moves downward and leftward from the right edge of the black table toward the blue building block on the table."}, {"label": "subtasks", "start_step": 30, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves downward and leftward from the right edge of the black table toward the blue building block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves leftward and downward toward the small green Lego block on the table."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the small green Lego block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers and makes slight adjustments to grasp the small green 1x1 block on the table."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the small green 1x1 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the small green 1x1 block upward from the table until the block completely leaves the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the small green 1x1 block in the air, moving it slightly leftward and downward while rotating the block slightly to adjust its orientation."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the small green 1x1 block downward onto the black table until the block is stably supported by the table."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the small green 1x1 block on the table, with fingers gradually opening and separating from the block."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the small green 1x1 block after releasing it."}, {"label": "subtasks", "start_step": 390, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and moves it above the larger green block."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place_mate: Right hand places the small green block onto the top of the larger green block and adjusts it for assembly alignment."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the small green block on top of the larger green block without moving."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the small green block on the black table, with fingers gradually opening to release the block."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand moves upward and rightward away from the green block on the table while empty."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves toward the blue 2x2 block on the table, approaching the block."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the blue 2x2 block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue 2x2 block on the table without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue 2x2 block on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the blue 2x2 block up from the dark table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the blue 2x2 block leftward and downward toward the green block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the blue 2x2 block onto the green block until it is stably supported."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue 2x2 block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the blue 2x2 block by opening its fingers."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the blue 2x2 block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves leftward and downward to approach the blue block stacked on top of the green block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the blue block stacked on the green block, with fingers adjusting to stably hold the block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue block stacked on the green block without moving."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the blue block, with fingers opening and fully separating from the block surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves rightward and upward to approach the orange block on the black surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the orange 2x2 block on the table, with slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the orange 2x2 block off the black table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the orange 2x2 block leftward and downward to above the green building block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the orange 2x2 block onto the top surface of the green block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: mate: Right hand adjusts the orange 2x2 block horizontally to align and mate with the adjacent blue block on the green base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the orange 2x2 block on the green block without moving."}, {"label": "subtasks", "start_step": 1582, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: press: Right hand presses the orange 2x2 block downward to fit it firmly onto the blocks below."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the orange 2x2 block, with fingers opening and separating from the block surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the orange block after releasing."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release_retreat: Right hand releases the orange block stacked on the green block and retreats rightward away from the block stack."}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose with fingers extending and wrist rotating slightly. | Right hand: release_retreat: Right hand releases the orange block stacked on the green block and retreats rightward away from the block stack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose with fingers extending and wrist rotating slightly. | Right hand: idle: Right hand remains empty at the right edge of the table without moving."}], "episode_index": 0}
+{"source_uid": "6129577630c79558", "num_frames": 1535, "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": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves toward the building blocks on the black table surface with fingers kept open. | Right hand: reach: Right hand moves toward the building blocks on the black table surface with fingers kept open."}, {"label": "valid", "start_step": 0, "end_step": 1496, "id": "6sKB4qKcpJi-KQQGKmbMR"}, {"label": "subtasks", "start_step": 90, "end_step": 367, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers and wrist to form a stable grasp on the small green block on the black table."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift: Right hand lifts the small green block off the black table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: transport: Right hand transports the small green block above the larger green block on the table."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand mates the small green block with the larger green block by aligning and pressing it down."}, {"label": "subtasks", "start_step": 420, "end_step": 591, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the green building block on the black table surface along the normal direction."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand moves towards the blue building block on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 697, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift_transport: Right hand lifts the blue block from the table and transports it above the stacked green blocks."}, {"label": "subtasks", "start_step": 742, "end_step": 891, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand aligns the blue block with the top of the stacked green blocks to prepare for assembly."}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the stacked green blocks to secure the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 981, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand moves towards the orange block placed on the table."}, {"label": "subtasks", "start_step": 982, "end_step": 1109, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift: Right hand lifts the grasped orange block off the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: transport: Right hand carries the orange block to move above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1185, "end_step": 1289, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand places the orange block on top of the green block and presses to align and assemble them."}, {"label": "subtasks", "start_step": 1290, "end_step": 1401, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand adjusts finger position and moves slowly towards the orange top block of the stacked building blocks."}, {"label": "subtasks", "start_step": 1402, "end_step": 1461, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the orange building block vertically downward to secure it on the stacked blocks."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: retreat: Right hand lifts off the orange block and moves backward away from the stacked building blocks."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00020", "text": "Left hand: return_home: Left empty hand moves back to its initial home position on the left side. | Right hand: return_home: Right empty hand moves back to its initial home position on the right side."}, {"label": "home", "start_step": 1497, "end_step": 1534, "id": "HksECnObdVBUhjoEhjodO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves toward the building blocks on the black table surface with fingers kept open. | Right hand: reach: Right hand moves toward the building blocks on the black table surface with fingers kept open."}, {"label": "subtasks", "start_step": 90, "end_step": 367, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers and wrist to form a stable grasp on the small green block on the black table."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift: Right hand lifts the small green block off the black table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: transport: Right hand transports the small green block above the larger green block on the table."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand mates the small green block with the larger green block by aligning and pressing it down."}, {"label": "subtasks", "start_step": 420, "end_step": 591, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the green building block on the black table surface along the normal direction."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand moves towards the blue building block on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 697, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift_transport: Right hand lifts the blue block from the table and transports it above the stacked green blocks."}, {"label": "subtasks", "start_step": 742, "end_step": 891, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand aligns the blue block with the top of the stacked green blocks to prepare for assembly."}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the stacked green blocks to secure the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 981, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand moves towards the orange block placed on the table."}, {"label": "subtasks", "start_step": 982, "end_step": 1109, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift: Right hand lifts the grasped orange block off the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: transport: Right hand carries the orange block to move above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1185, "end_step": 1289, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand places the orange block on top of the green block and presses to align and assemble them."}, {"label": "subtasks", "start_step": 1290, "end_step": 1401, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand adjusts finger position and moves slowly towards the orange top block of the stacked building blocks."}, {"label": "subtasks", "start_step": 1402, "end_step": 1461, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the orange building block vertically downward to secure it on the stacked blocks."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: retreat: Right hand lifts off the orange block and moves backward away from the stacked building blocks."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00020", "text": "Left hand: return_home: Left empty hand moves back to its initial home position on the left side. | Right hand: return_home: Right empty hand moves back to its initial home position on the right side."}], "episode_index": 1}
+{"source_uid": "89943de5b399f8a1", "num_frames": 1563, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1527, "id": "1LDGfSWHPGWOhmrNu6WKW"}, {"label": "subtasks", "start_step": 15, "end_step": 97, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from its initial right upper position toward the small green cubic Lego block on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 98, "end_step": 201, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around the small green cubic Lego block, making slight finger and wrist adjustments to establish a stable grasp while the block remains on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00003", "text": "Right hand: lift_transport: Right hand lifts the grasped small green cubic Lego block off the table surface, then moves it horizontally to position it above the long green rectangular Lego block."}, {"label": "subtasks", "start_step": 232, "end_step": 351, "id": "reasoning-language-00004", "text": "Right hand: mate: Right hand aligns the held small green cubic Lego block with the connection studs on the long green rectangular Lego block, pressing slightly to fit the two blocks into an assembled state."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00005", "text": "Right hand: release: Right hand opens its fingers to release the assembled small green Lego block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00006", "text": "Right hand: reach: Right hand moves right toward the blue building block on the dark flat surface, with fingers held open and extended."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand closes fingers around the blue building block, making small grip adjustments while the block remains resting on the dark surface."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00008", "text": "Right hand: lift_transport: Right hand lifts the grasped blue building block off the dark surface while moving left to carry the block toward the stacked green building blocks."}, {"label": "subtasks", "start_step": 480, "end_step": 539, "id": "reasoning-language-00009", "text": "Right hand: mate: Right hand aligns the held blue building block with the top of the green building block stack, pressing down to fit the blocks together in an assembled position."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00010", "text": "Right hand: hold: Right hand holds the blue building block fitted on top of the green stack without any visible movement."}, {"label": "subtasks", "start_step": 562, "end_step": 569, "id": "reasoning-language-00011", "text": "Right hand: release: Right hand opens fingers to release grip on the blue building block."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00012", "text": "Right hand: grasp: Right hand closes fingers to establish a stable grasp on the dark blue block placed next to the stacked green blocks."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Right hand: push_release: Right hand pushes the grasped blue block rightward across the table surface, then opens fingers to release the block onto the table."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00014", "text": "Right hand: retreat: Right hand moves empty upward and away from the released blue block on the table."}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00015", "text": "Right hand: reach_grasp: Right hand moves empty back down toward the blue block, then closes fingers to grasp the block with small finger adjustments for a secure hold."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00016", "text": "Right hand: reorient_release: Right hand rotates the grasped blue block approximately 90 degrees to turn its studded surface upward, then opens fingers to release the reoriented block onto the table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 831, "id": "reasoning-language-00017", "text": "Right hand: reach_grasp: Right hand moves toward the blue block resting on the dark table surface, closes fingers around the block and makes slight finger and wrist adjustments to form a stable grip, with the block remaining on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00018", "text": "Right hand: lift_transport: Right hand lifts the grasped blue block completely off the table surface, moving the block leftward toward the nearby long green block."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00019", "text": "Right hand: mate: Right hand lowers the blue block to the table surface, adjusting the block's position and orientation to align it flush against the side of the long green block."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00020", "text": "Right hand: hold: Right hand holds the aligned blue block steadily against the long green block on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00021", "text": "Right hand: release: Right hand opens fingers to release the grasped blue block, beginning to move away from the block's surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1147, "id": "reasoning-language-00022", "text": "Right hand: release: Right hand gradually opens its fingers to release the blue block attached to the stacked green block, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1148, "end_step": 1214, "id": "reasoning-language-00023", "text": "Right hand: reach: Right hand moves left across the dark table surface toward the small orange block, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 1215, "end_step": 1281, "id": "reasoning-language-00024", "text": "Right hand: grasp: Right hand adjusts its finger positions and closes fingers to establish a stable grasp on the orange block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00025", "text": "Right hand: lift: Right hand lifts the grasped orange block vertically upward until the block is completely separated from the dark work surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00026", "text": "Right hand: transport_place: Right hand moves the lifted orange block horizontally to a position above the stacked blocks and lowers the block to rest on the top surface of the underlying green block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1409, "id": "reasoning-language-00027", "text": "Right hand: mate: Right hand adjusts the position of the orange block to align and fit it properly with the underlying green block to form the assembly."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "text": "Right hand: release: Right hand opens its fingers gradually to release its grip on the assembled orange block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00029", "text": "Right hand: press: Right hand uses its extended index finger to apply downward vertical pressure on the top surface of the orange block to secure the assembly."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00030", "text": "Right hand: retreat: Right hand moves upward and backward while empty, moving away from the stacked building blocks on the dark table surface."}, {"label": "home", "start_step": 1528, "end_step": 1562, "id": "6c6_cl_1TIvZR7fof5GFT"}, {"label": "subtasks", "start_step": 1538, "end_step": 1562, "id": "reasoning-language-00031", "text": "Left hand: other:move_upward_backward: Left hand moves upward and backward while empty, with fingers spreading slightly as it moves. | Right hand: retreat: Right hand moves upward and backward while empty, moving away from the stacked building blocks on the dark table surface."}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 97, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from its initial right upper position toward the small green cubic Lego block on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 98, "end_step": 201, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around the small green cubic Lego block, making slight finger and wrist adjustments to establish a stable grasp while the block remains on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00003", "text": "Right hand: lift_transport: Right hand lifts the grasped small green cubic Lego block off the table surface, then moves it horizontally to position it above the long green rectangular Lego block."}, {"label": "subtasks", "start_step": 232, "end_step": 351, "id": "reasoning-language-00004", "text": "Right hand: mate: Right hand aligns the held small green cubic Lego block with the connection studs on the long green rectangular Lego block, pressing slightly to fit the two blocks into an assembled state."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00005", "text": "Right hand: release: Right hand opens its fingers to release the assembled small green Lego block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00006", "text": "Right hand: reach: Right hand moves right toward the blue building block on the dark flat surface, with fingers held open and extended."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand closes fingers around the blue building block, making small grip adjustments while the block remains resting on the dark surface."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00008", "text": "Right hand: lift_transport: Right hand lifts the grasped blue building block off the dark surface while moving left to carry the block toward the stacked green building blocks."}, {"label": "subtasks", "start_step": 480, "end_step": 539, "id": "reasoning-language-00009", "text": "Right hand: mate: Right hand aligns the held blue building block with the top of the green building block stack, pressing down to fit the blocks together in an assembled position."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00010", "text": "Right hand: hold: Right hand holds the blue building block fitted on top of the green stack without any visible movement."}, {"label": "subtasks", "start_step": 562, "end_step": 569, "id": "reasoning-language-00011", "text": "Right hand: release: Right hand opens fingers to release grip on the blue building block."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00012", "text": "Right hand: grasp: Right hand closes fingers to establish a stable grasp on the dark blue block placed next to the stacked green blocks."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Right hand: push_release: Right hand pushes the grasped blue block rightward across the table surface, then opens fingers to release the block onto the table."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00014", "text": "Right hand: retreat: Right hand moves empty upward and away from the released blue block on the table."}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00015", "text": "Right hand: reach_grasp: Right hand moves empty back down toward the blue block, then closes fingers to grasp the block with small finger adjustments for a secure hold."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00016", "text": "Right hand: reorient_release: Right hand rotates the grasped blue block approximately 90 degrees to turn its studded surface upward, then opens fingers to release the reoriented block onto the table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 831, "id": "reasoning-language-00017", "text": "Right hand: reach_grasp: Right hand moves toward the blue block resting on the dark table surface, closes fingers around the block and makes slight finger and wrist adjustments to form a stable grip, with the block remaining on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00018", "text": "Right hand: lift_transport: Right hand lifts the grasped blue block completely off the table surface, moving the block leftward toward the nearby long green block."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00019", "text": "Right hand: mate: Right hand lowers the blue block to the table surface, adjusting the block's position and orientation to align it flush against the side of the long green block."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00020", "text": "Right hand: hold: Right hand holds the aligned blue block steadily against the long green block on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00021", "text": "Right hand: release: Right hand opens fingers to release the grasped blue block, beginning to move away from the block's surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1147, "id": "reasoning-language-00022", "text": "Right hand: release: Right hand gradually opens its fingers to release the blue block attached to the stacked green block, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1148, "end_step": 1214, "id": "reasoning-language-00023", "text": "Right hand: reach: Right hand moves left across the dark table surface toward the small orange block, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 1215, "end_step": 1281, "id": "reasoning-language-00024", "text": "Right hand: grasp: Right hand adjusts its finger positions and closes fingers to establish a stable grasp on the orange block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00025", "text": "Right hand: lift: Right hand lifts the grasped orange block vertically upward until the block is completely separated from the dark work surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00026", "text": "Right hand: transport_place: Right hand moves the lifted orange block horizontally to a position above the stacked blocks and lowers the block to rest on the top surface of the underlying green block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1409, "id": "reasoning-language-00027", "text": "Right hand: mate: Right hand adjusts the position of the orange block to align and fit it properly with the underlying green block to form the assembly."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "text": "Right hand: release: Right hand opens its fingers gradually to release its grip on the assembled orange block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00029", "text": "Right hand: press: Right hand uses its extended index finger to apply downward vertical pressure on the top surface of the orange block to secure the assembly."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00030", "text": "Right hand: retreat: Right hand moves upward and backward while empty, moving away from the stacked building blocks on the dark table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1562, "id": "reasoning-language-00031", "text": "Left hand: other:move_upward_backward: Left hand moves upward and backward while empty, with fingers spreading slightly as it moves. | Right hand: retreat: Right hand moves upward and backward while empty, moving away from the stacked building blocks on the dark table surface."}], "episode_index": 2}
+{"source_uid": "5a7a599942172c4e", "num_frames": 3340, "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": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from its initial raised position, empty with fingers extended, approaching the small blue lego block resting on the right area of the black table surface."}, {"label": "valid", "start_step": 0, "end_step": 3300, "id": "cI1PVw6GWn0iJLFO9hNfK"}, {"label": "subtasks", "start_step": 90, "end_step": 427, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the small blue lego block, repeatedly adjusts finger positions and gradually closes fingers to form a stable grip on the block, which stays on the table surface during this period."}, {"label": "subtasks", "start_step": 428, "end_step": 561, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped blue lego block completely off the table surface, then moves the block downward and leftward to the area adjacent to the small orange lego block."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: place: Right hand lowers the grasped blue lego block until it rests stably on the table surface next to the orange lego block, with the block supported by the table."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: reach: Right hand moves left across the dark table surface toward the small green lego block, staying empty without touching any objects during movement."}, {"label": "subtasks", "start_step": 668, "end_step": 861, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the small green lego block on the table, closing fingers gradually to form a stable grip on the block."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the small green lego block upward, raising it until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted small green lego block upward and slightly rightward to a stationary position in the air above the table."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: hold: Right hand holds the small green lego block motionless in the air, with no visible movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: place: Right hand moves the small green lego block downward and slightly leftward toward the table surface to position it for placement."}, {"label": "subtasks", "start_step": 1020, "end_step": 1191, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes around the small green lego block resting on the dark table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1192, "end_step": 1207, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the small green lego block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1289, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: transport: Right hand carries the small green lego block leftward through the air toward the left hand."}, {"label": "subtasks", "start_step": 1290, "end_step": 1297, "id": "reasoning-language-00014", "text": "Left hand: reach_grasp: Left hand moves rightward toward the small green lego block held by the right hand, adjusts its fingers and closes around the block to establish a stable grasp. | Right hand: transport: Right hand carries the small green lego block leftward through the air toward the left hand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1431, "id": "reasoning-language-00015", "text": "Left hand: reach_grasp: Left hand moves rightward toward the small green lego block held by the right hand, adjusts its fingers and closes around the block to establish a stable grasp. | Right hand: hold: Right hand holds the small green lego block steadily in the space between the two hands without noticeable movement."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the small green lego block steadily without noticeable movement as the right hand releases the block. | Right hand: release: Right hand opens its fingers to release the small green lego block, separating from the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00017", "text": "Left hand: place: Left hand holds the small green lego block, moves downward, and places it onto the dark gray table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1515, "end_step": 1589, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the small green lego block resting on the dark gray table surface without any visible movement. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00019", "text": "Left hand: lift: Left hand holds the small green lego block and moves upward to lift it off the dark gray table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1620, "end_step": 1709, "id": "reasoning-language-00020", "text": "Left hand: lift_transport: Left hand lifts the small green lego block off the dark table surface, then transports the block upward and rightward to the position between the two hands. | Right hand: reach: Right hand moves leftward from its initial position near the blue lego block with fingers extended, approaching the small green lego block held by the left hand."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the small green lego block steadily between the two hands without any visible movement of the hand or the block. | Right hand: reach: Right hand moves leftward from its initial position near the blue lego block with fingers extended, approaching the small green lego block held by the left hand."}, {"label": "subtasks", "start_step": 1725, "end_step": 1889, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the small green lego block steadily between the two hands without any visible movement of the hand or the block. | Right hand: grasp: Right hand gradually closes its fingers and adjusts contact points around the small green lego block to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand opens its fingers to release the small green lego block, fully separating from the block by the end of the segment. | Right hand: grasp: Right hand gradually closes its fingers and adjusts contact points around the small green lego block to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1971, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand holds the small green lego block and moves it downward toward the larger green lego block on the black work surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2121, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes small adjustments to its finger grip and the position of the small green lego block resting on the larger green lego block."}, {"label": "subtasks", "start_step": 2122, "end_step": 2219, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the small green lego block steadily on the larger green lego block with no observable movement of the hand, fingers or blocks."}, {"label": "subtasks", "start_step": 2220, "end_step": 2339, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: press: Right hand adjusts its finger position and presses down on the top surface of the small green lego block."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty toward the small blue lego block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2579, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions repeatedly to close around the small blue lego block and establish a stable grip."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped small blue lego block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2654, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the grasped small blue lego block leftward and downward toward the green lego block on the table."}, {"label": "subtasks", "start_step": 2655, "end_step": 2834, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the position of the grasped small blue lego block to align it with the green lego block for assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves toward the small orange lego block on the dark table surface with fingers slightly spread, approaching the target without making contact."}, {"label": "subtasks", "start_step": 2865, "end_step": 3021, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the small orange lego block, making slight adjustments to finger positions to form a stable grasp while the block remains resting on the table."}, {"label": "subtasks", "start_step": 3022, "end_step": 3044, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand moves the grasped small orange lego block vertically upward, lifting the block completely off the dark table surface."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport_place: Right hand moves the grasped small orange lego block leftward to a position above the stacked green and blue lego blocks, lowers the block to rest on the top surface of the blue lego block, supported by the underlying stacked blocks."}, {"label": "subtasks", "start_step": 3060, "end_step": 3074, "id": "reasoning-language-00037", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts finger posture, curling the extended index finger inward to align with other curled fingers. | Right hand: transport_place: Right hand moves the grasped small orange lego block leftward to a position above the stacked green and blue lego blocks, lowers the block to rest on the top surface of the blue lego block, supported by the underlying stacked blocks."}, {"label": "subtasks", "start_step": 3075, "end_step": 3171, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: hold: Right hand holds the small orange lego block steady on top of the stacked green and blue lego blocks, with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 3172, "end_step": 3187, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: release: Right hand opens fingers to release the grasp on the small orange lego block, separating fingers from the block surface."}, {"label": "subtasks", "start_step": 3188, "end_step": 3217, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: idle: Right hand remains empty above the stacked lego blocks with fingers spread, no observable movement."}, {"label": "subtasks", "start_step": 3218, "end_step": 3261, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: press: Right hand presses a finger vertically downward against the top surface of the placed small orange lego block to apply pressure."}, {"label": "subtasks", "start_step": 3262, "end_step": 3269, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: retreat: Right hand lifts the finger off the top surface of the orange lego block, moving slightly upward away from the block."}, {"label": "subtasks", "start_step": 3270, "end_step": 3329, "id": "reasoning-language-00043", "text": "Left hand: return_home: Left hand moves upward back to the home position, with fingers gradually extending, remaining empty throughout the movement. | Right hand: release_return_home: Right hand opens fingers to release the top orange lego block, and moves upward back to the home position."}, {"label": "home", "start_step": 3301, "end_step": 3339, "id": "eGmp5g-SlEs4_FC3Rd1EI"}, {"label": "subtasks", "start_step": 3330, "end_step": 3339, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the home position with extended fingers without moving. | Right hand: idle: Right hand remains empty at the home position without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from its initial raised position, empty with fingers extended, approaching the small blue lego block resting on the right area of the black table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 427, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the small blue lego block, repeatedly adjusts finger positions and gradually closes fingers to form a stable grip on the block, which stays on the table surface during this period."}, {"label": "subtasks", "start_step": 428, "end_step": 561, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped blue lego block completely off the table surface, then moves the block downward and leftward to the area adjacent to the small orange lego block."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: place: Right hand lowers the grasped blue lego block until it rests stably on the table surface next to the orange lego block, with the block supported by the table."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: reach: Right hand moves left across the dark table surface toward the small green lego block, staying empty without touching any objects during movement."}, {"label": "subtasks", "start_step": 668, "end_step": 861, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the small green lego block on the table, closing fingers gradually to form a stable grip on the block."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the small green lego block upward, raising it until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted small green lego block upward and slightly rightward to a stationary position in the air above the table."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: hold: Right hand holds the small green lego block motionless in the air, with no visible movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: place: Right hand moves the small green lego block downward and slightly leftward toward the table surface to position it for placement."}, {"label": "subtasks", "start_step": 1020, "end_step": 1191, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes around the small green lego block resting on the dark table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1192, "end_step": 1207, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the small green lego block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1289, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: transport: Right hand carries the small green lego block leftward through the air toward the left hand."}, {"label": "subtasks", "start_step": 1290, "end_step": 1297, "id": "reasoning-language-00014", "text": "Left hand: reach_grasp: Left hand moves rightward toward the small green lego block held by the right hand, adjusts its fingers and closes around the block to establish a stable grasp. | Right hand: transport: Right hand carries the small green lego block leftward through the air toward the left hand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1431, "id": "reasoning-language-00015", "text": "Left hand: reach_grasp: Left hand moves rightward toward the small green lego block held by the right hand, adjusts its fingers and closes around the block to establish a stable grasp. | Right hand: hold: Right hand holds the small green lego block steadily in the space between the two hands without noticeable movement."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the small green lego block steadily without noticeable movement as the right hand releases the block. | Right hand: release: Right hand opens its fingers to release the small green lego block, separating from the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00017", "text": "Left hand: place: Left hand holds the small green lego block, moves downward, and places it onto the dark gray table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1515, "end_step": 1589, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the small green lego block resting on the dark gray table surface without any visible movement. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00019", "text": "Left hand: lift: Left hand holds the small green lego block and moves upward to lift it off the dark gray table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1620, "end_step": 1709, "id": "reasoning-language-00020", "text": "Left hand: lift_transport: Left hand lifts the small green lego block off the dark table surface, then transports the block upward and rightward to the position between the two hands. | Right hand: reach: Right hand moves leftward from its initial position near the blue lego block with fingers extended, approaching the small green lego block held by the left hand."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the small green lego block steadily between the two hands without any visible movement of the hand or the block. | Right hand: reach: Right hand moves leftward from its initial position near the blue lego block with fingers extended, approaching the small green lego block held by the left hand."}, {"label": "subtasks", "start_step": 1725, "end_step": 1889, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the small green lego block steadily between the two hands without any visible movement of the hand or the block. | Right hand: grasp: Right hand gradually closes its fingers and adjusts contact points around the small green lego block to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand opens its fingers to release the small green lego block, fully separating from the block by the end of the segment. | Right hand: grasp: Right hand gradually closes its fingers and adjusts contact points around the small green lego block to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1971, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand holds the small green lego block and moves it downward toward the larger green lego block on the black work surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2121, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes small adjustments to its finger grip and the position of the small green lego block resting on the larger green lego block."}, {"label": "subtasks", "start_step": 2122, "end_step": 2219, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the small green lego block steadily on the larger green lego block with no observable movement of the hand, fingers or blocks."}, {"label": "subtasks", "start_step": 2220, "end_step": 2339, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: press: Right hand adjusts its finger position and presses down on the top surface of the small green lego block."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty toward the small blue lego block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2579, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions repeatedly to close around the small blue lego block and establish a stable grip."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped small blue lego block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2654, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the grasped small blue lego block leftward and downward toward the green lego block on the table."}, {"label": "subtasks", "start_step": 2655, "end_step": 2834, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the position of the grasped small blue lego block to align it with the green lego block for assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves toward the small orange lego block on the dark table surface with fingers slightly spread, approaching the target without making contact."}, {"label": "subtasks", "start_step": 2865, "end_step": 3021, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the small orange lego block, making slight adjustments to finger positions to form a stable grasp while the block remains resting on the table."}, {"label": "subtasks", "start_step": 3022, "end_step": 3044, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand moves the grasped small orange lego block vertically upward, lifting the block completely off the dark table surface."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport_place: Right hand moves the grasped small orange lego block leftward to a position above the stacked green and blue lego blocks, lowers the block to rest on the top surface of the blue lego block, supported by the underlying stacked blocks."}, {"label": "subtasks", "start_step": 3060, "end_step": 3074, "id": "reasoning-language-00037", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts finger posture, curling the extended index finger inward to align with other curled fingers. | Right hand: transport_place: Right hand moves the grasped small orange lego block leftward to a position above the stacked green and blue lego blocks, lowers the block to rest on the top surface of the blue lego block, supported by the underlying stacked blocks."}, {"label": "subtasks", "start_step": 3075, "end_step": 3171, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: hold: Right hand holds the small orange lego block steady on top of the stacked green and blue lego blocks, with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 3172, "end_step": 3187, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: release: Right hand opens fingers to release the grasp on the small orange lego block, separating fingers from the block surface."}, {"label": "subtasks", "start_step": 3188, "end_step": 3217, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: idle: Right hand remains empty above the stacked lego blocks with fingers spread, no observable movement."}, {"label": "subtasks", "start_step": 3218, "end_step": 3261, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: press: Right hand presses a finger vertically downward against the top surface of the placed small orange lego block to apply pressure."}, {"label": "subtasks", "start_step": 3262, "end_step": 3269, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: retreat: Right hand lifts the finger off the top surface of the orange lego block, moving slightly upward away from the block."}, {"label": "subtasks", "start_step": 3270, "end_step": 3329, "id": "reasoning-language-00043", "text": "Left hand: return_home: Left hand moves upward back to the home position, with fingers gradually extending, remaining empty throughout the movement. | Right hand: release_return_home: Right hand opens fingers to release the top orange lego block, and moves upward back to the home position."}, {"label": "subtasks", "start_step": 3330, "end_step": 3339, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the home position with extended fingers without moving. | Right hand: idle: Right hand remains empty at the home position without moving."}], "episode_index": 3}
+{"source_uid": "526de8d1f899b779", "num_frames": 1602, "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": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its hand posture with fingers opening at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block located in the middle of the black table."}, {"label": "valid", "start_step": 0, "end_step": 1558, "id": "BB4H3thsapmBydQ1APQfo"}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block located in the middle of the black table."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue block on the black table."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts finger positions to establish stable grasp on the small green block on the black table."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift: Right hand lifts the grasped small green block away from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the green block on the black table, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the orange block on the black tabletop."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach_grasp: Right hand reaches for and grasps the blue block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: push: Right hand pushes the blue block towards the green block on the black table."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reorient: Right hand flips the blue block to adjust its orientation on the dark table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift_transport: Right hand lifts the blue block from the table and transports it above the green block."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: place: Right hand places the blue block onto the top of the green block."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the blue block."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: transport: Right hand holds the blue block and moves it rightwards in the air."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: place_release: Right hand places the blue block on the black table then releases it, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block on the black table."}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the blue block placed on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: transport: Right hand moves the grasped blue block towards the green block on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the green-blue stacked block on the table, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the orange block on the table, remaining empty during movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand grasps the orange block on the table, fingers close to contact the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the orange block on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift_transport: Right hand lifts the orange block from the table and transports it towards the green and blue stacked block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: mate: Right hand aligns and places the orange block onto the top of the green and blue stacked block to complete assembly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1537, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the stacked colorful building blocks on the black table, with fingers gradually opening to detach from the blocks."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: retreat: Right hand retreats away from the stacked building blocks after releasing the grip."}, {"label": "home", "start_step": 1559, "end_step": 1601, "id": "sa_TlT1hibQBWt8xsynVC"}, {"label": "subtasks", "start_step": 1560, "end_step": 1601, "id": "reasoning-language-00033", "text": "Left hand: return_home: Left hand retracts and stops at its initial position on the left side of the table. | Right hand: return_home: Right hand retracts and stops at its initial position on the right side of the table."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its hand posture with fingers opening at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block located in the middle of the black table."}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block located in the middle of the black table."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue block on the black table."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts finger positions to establish stable grasp on the small green block on the black table."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift: Right hand lifts the grasped small green block away from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the green block on the black table, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the orange block on the black tabletop."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach_grasp: Right hand reaches for and grasps the blue block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: push: Right hand pushes the blue block towards the green block on the black table."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reorient: Right hand flips the blue block to adjust its orientation on the dark table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift_transport: Right hand lifts the blue block from the table and transports it above the green block."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: place: Right hand places the blue block onto the top of the green block."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the blue block."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: transport: Right hand holds the blue block and moves it rightwards in the air."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: place_release: Right hand places the blue block on the black table then releases it, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block on the black table."}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the blue block placed on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: transport: Right hand moves the grasped blue block towards the green block on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the green-blue stacked block on the table, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the orange block on the table, remaining empty during movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand grasps the orange block on the table, fingers close to contact the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the orange block on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift_transport: Right hand lifts the orange block from the table and transports it towards the green and blue stacked block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: mate: Right hand aligns and places the orange block onto the top of the green and blue stacked block to complete assembly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1537, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the stacked colorful building blocks on the black table, with fingers gradually opening to detach from the blocks."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: retreat: Right hand retreats away from the stacked building blocks after releasing the grip."}, {"label": "subtasks", "start_step": 1560, "end_step": 1601, "id": "reasoning-language-00033", "text": "Left hand: return_home: Left hand retracts and stops at its initial position on the left side of the table. | Right hand: return_home: Right hand retracts and stops at its initial position on the right side of the table."}], "episode_index": 4}
+{"source_uid": "54a9c680d5ee86a0", "num_frames": 1671, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1635, "id": "UlNzEDxUg74FCVo1eaWET"}, {"label": "subtasks", "start_step": 15, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger and wrist posture above the left side of the table, without contacting any objects. | Right hand: reach: Right hand moves downward toward the Lego bricks placed on the central table area, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 52, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves downward toward the Lego bricks placed on the central table area, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand makes minor continuous adjustments to its finger positions around the adjacent blue and small green Lego bricks to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand stays in contact with the small green 2x2 plastic block on the dark flat surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: other:nudge_block: Right hand moves its fingers to nudge the small green 2x2 plastic block, causing the block to shift slightly across the dark flat surface."}, {"label": "subtasks", "start_step": 240, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand remains in contact with the small green 2x2 plastic block, with no visible movement of the hand or the block on the dark flat surface."}, {"label": "subtasks", "start_step": 352, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: other:nudge_block: Right hand moves its fingers to nudge the small green 2x2 plastic block, adjusting the block's position with small shifts across the dark flat surface."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls fingers to close around the small 2x2 light green lego block on the black work surface, making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_transport: Right hand lifts the gripped small 2x2 light green lego block completely off the black work surface and moves it horizontally toward the nearby cluster of lego pieces."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: place: Right hand lowers the small 2x2 light green lego block and sets it onto the top surface of the longer light green lego block until the block is supported by the longer piece."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand holds the small 2x2 light green lego block on top of the longer light green lego block without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 525, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: mate_release: Right hand makes small finger and wrist adjustments to align the small 2x2 light green lego block with the longer green lego block beneath it, releasing contact with the aligned block."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: retreat: Right hand moves empty upward and slightly left away from the stacked green lego blocks."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves empty downward toward the blue 2x2 lego block resting on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 675, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls its fingers to adjust contact and establish a stable grasp on the blue 2x2 lego block resting on the dark table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_transport: Right hand lifts the grasped blue 2x2 lego block completely off the dark table surface and moves it toward the area next to the green lego block."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: place: Right hand lowers the grasped blue 2x2 lego block down to the dark table surface adjacent to the green lego block, positioning it to rest stably on the surface."}, {"label": "subtasks", "start_step": 825, "end_step": 951, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand adjusts finger positions on the blue 2x2 lego block to establish a stable grip, with small finger movements to reposition contact points."}, {"label": "subtasks", "start_step": 952, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: push: Right hand pushes the blue 2x2 lego block to slide across the dark table surface toward the adjacent green lego block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1199, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: press: Right hand presses down on the blue 2x2 lego block against the table surface to fine-tune its final position next to the green lego block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves right toward the orange 2x2 lego block on the dark work surface, with fingers held slightly open during the movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1379, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand makes small continuous adjustments to finger positions and wrist orientation to establish and stabilize contact with the orange 2x2 lego block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls fingers around the orange 2x2 lego block on the dark table surface, adjusting grip to form a stable hold on the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_place: Right hand lifts the orange 2x2 lego block off the dark table surface, shifts it a short distance left to rest on top of the stacked green and blue lego blocks."}, {"label": "subtasks", "start_step": 1432, "end_step": 1529, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: mate: Right hand adjusts the orange lego block on the stacked blocks with slight wiggling motions to align its connection points with the blocks below for assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: release_retreat: Right hand opens fingers to release grasp on the orange lego block, moves a short distance upward away from the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach_press: Right hand moves down to the orange lego block, applies downward pressure on the block's top surface to secure it to the stacked blocks below."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: retreat: Right hand lifts its finger off the orange lego block's top surface, moves upward away from the assembled lego stack."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: return_home: Left hand stays empty, moves upward and backward toward its initial raised position on the left, with fingers adjusting to an extended open posture during the movement. | Right hand: return_home: Right hand stays empty, moves upward and backward toward its initial raised position on the right, with fingers adjusting to an extended open posture during the movement."}, {"label": "home", "start_step": 1636, "end_step": 1670, "id": "3IDz5u1pkLxn2bUbz8mPJ"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger and wrist posture above the left side of the table, without contacting any objects. | Right hand: reach: Right hand moves downward toward the Lego bricks placed on the central table area, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 52, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves downward toward the Lego bricks placed on the central table area, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand makes minor continuous adjustments to its finger positions around the adjacent blue and small green Lego bricks to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand stays in contact with the small green 2x2 plastic block on the dark flat surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: other:nudge_block: Right hand moves its fingers to nudge the small green 2x2 plastic block, causing the block to shift slightly across the dark flat surface."}, {"label": "subtasks", "start_step": 240, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand remains in contact with the small green 2x2 plastic block, with no visible movement of the hand or the block on the dark flat surface."}, {"label": "subtasks", "start_step": 352, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: other:nudge_block: Right hand moves its fingers to nudge the small green 2x2 plastic block, adjusting the block's position with small shifts across the dark flat surface."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls fingers to close around the small 2x2 light green lego block on the black work surface, making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_transport: Right hand lifts the gripped small 2x2 light green lego block completely off the black work surface and moves it horizontally toward the nearby cluster of lego pieces."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: place: Right hand lowers the small 2x2 light green lego block and sets it onto the top surface of the longer light green lego block until the block is supported by the longer piece."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand holds the small 2x2 light green lego block on top of the longer light green lego block without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 525, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: mate_release: Right hand makes small finger and wrist adjustments to align the small 2x2 light green lego block with the longer green lego block beneath it, releasing contact with the aligned block."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: retreat: Right hand moves empty upward and slightly left away from the stacked green lego blocks."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves empty downward toward the blue 2x2 lego block resting on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 675, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls its fingers to adjust contact and establish a stable grasp on the blue 2x2 lego block resting on the dark table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_transport: Right hand lifts the grasped blue 2x2 lego block completely off the dark table surface and moves it toward the area next to the green lego block."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: place: Right hand lowers the grasped blue 2x2 lego block down to the dark table surface adjacent to the green lego block, positioning it to rest stably on the surface."}, {"label": "subtasks", "start_step": 825, "end_step": 951, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand adjusts finger positions on the blue 2x2 lego block to establish a stable grip, with small finger movements to reposition contact points."}, {"label": "subtasks", "start_step": 952, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: push: Right hand pushes the blue 2x2 lego block to slide across the dark table surface toward the adjacent green lego block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1199, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: press: Right hand presses down on the blue 2x2 lego block against the table surface to fine-tune its final position next to the green lego block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves right toward the orange 2x2 lego block on the dark work surface, with fingers held slightly open during the movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1379, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand makes small continuous adjustments to finger positions and wrist orientation to establish and stabilize contact with the orange 2x2 lego block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls fingers around the orange 2x2 lego block on the dark table surface, adjusting grip to form a stable hold on the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_place: Right hand lifts the orange 2x2 lego block off the dark table surface, shifts it a short distance left to rest on top of the stacked green and blue lego blocks."}, {"label": "subtasks", "start_step": 1432, "end_step": 1529, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: mate: Right hand adjusts the orange lego block on the stacked blocks with slight wiggling motions to align its connection points with the blocks below for assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: release_retreat: Right hand opens fingers to release grasp on the orange lego block, moves a short distance upward away from the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach_press: Right hand moves down to the orange lego block, applies downward pressure on the block's top surface to secure it to the stacked blocks below."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: retreat: Right hand lifts its finger off the orange lego block's top surface, moves upward away from the assembled lego stack."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: return_home: Left hand stays empty, moves upward and backward toward its initial raised position on the left, with fingers adjusting to an extended open posture during the movement. | Right hand: return_home: Right hand stays empty, moves upward and backward toward its initial raised position on the right, with fingers adjusting to an extended open posture during the movement."}], "episode_index": 5}
+{"source_uid": "324d7ee9553d8197", "num_frames": 1161, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1121, "id": "hcHrs_Se6UrnseLwKbI--"}, {"label": "subtasks", "start_step": 15, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:minor_finger_adjustment: Left hand makes minor positional adjustments to its fingers while remaining stationary in the upper left area, making no contact with any objects. | Right hand: reach: Right hand moves downward toward the small green lego block placed on the dark table surface, with fingers held in an open position."}, {"label": "subtasks", "start_step": 30, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach: Right hand moves downward toward the small green lego block placed on the dark table surface, with fingers held in an open position."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: grasp: Right hand makes fine finger adjustments to close around and form a grip on the small green lego block that remains resting on the table."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift: Right hand moves upward while securely holding the small green lego block, lifting the block fully off the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: transport_place: Right hand holds the small green 2x2 lego brick, moves it slightly down and right, and places it onto the larger green lego brick resting on the dark flat surface."}, {"label": "subtasks", "start_step": 292, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: hold: Right hand holds the small green 2x2 lego brick steadily on top of the larger green lego brick with no observable movement of the hand or the bricks."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: release: Right hand opens fingers to release the small green 2x2 lego brick, with the index finger lifting slightly away from the brick's top surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach: Right hand moves while empty toward the small blue 2x2 lego brick on the dark gray surface, without making contact with the brick."}, {"label": "subtasks", "start_step": 435, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the small blue 2x2 lego brick, forming a stable grasp while the brick remains resting on the dark surface."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift: Right hand lifts the grasped blue 2x2 lego brick upward, fully lifting the brick off the dark supporting surface."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: transport: Right hand carries the lifted blue lego brick leftward through the air, moving it to the position directly above the adjacent green lego brick."}, {"label": "subtasks", "start_step": 600, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: mate_release: Right hand aligns the held blue 2x2 lego brick with the green lego brick below, presses downward to fit the two bricks together into a connected assembly, opens fingers to release the assembled blue brick and separates from the brick surface."}, {"label": "subtasks", "start_step": 705, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach_grasp: Right hand moves toward the small orange 2x2 lego brick resting on the dark flat surface, closes fingers around the brick while making slight adjustments to finger positions and wrist posture to form a stable grasp, with the brick remaining on the dark support surface."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped small orange 2x2 lego brick completely off the dark support surface, moves it leftward toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: place: Right hand lowers the small orange 2x2 lego brick onto the top surface of the stacked blue and green lego bricks until the brick is stably supported by the target structure."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: hold: Right hand holds the small orange 2x2 lego brick steadily on top of the stacked blue and green lego bricks, with no observable movement of the hand or the brick."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: release: Right hand releases the stacked lego blocks on the dark flat surface, with fingers adjusting position around the stack, the index finger applying light pressure to the top orange lego brick, and fingers opening to separate from the lego stack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: return_home: Right hand moves upward and backward from the position above the lego stack back to its right-side home position, and stops steadily at the home position."}, {"label": "home", "start_step": 1122, "end_step": 1160, "id": "TkQt-vMUyNZAjawFP6tG7"}, {"label": "subtasks", "start_step": 1132, "end_step": 1160, "id": "reasoning-language-00019", "text": "Left hand: return_home: Left hand moves downward from the upper left position back to its left-side home position, with fingers slightly spreading, and stops steadily at the home position. | Right hand: return_home: Right hand moves upward and backward from the position above the lego stack back to its right-side home position, and stops steadily at the home position."}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:minor_finger_adjustment: Left hand makes minor positional adjustments to its fingers while remaining stationary in the upper left area, making no contact with any objects. | Right hand: reach: Right hand moves downward toward the small green lego block placed on the dark table surface, with fingers held in an open position."}, {"label": "subtasks", "start_step": 30, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach: Right hand moves downward toward the small green lego block placed on the dark table surface, with fingers held in an open position."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: grasp: Right hand makes fine finger adjustments to close around and form a grip on the small green lego block that remains resting on the table."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift: Right hand moves upward while securely holding the small green lego block, lifting the block fully off the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: transport_place: Right hand holds the small green 2x2 lego brick, moves it slightly down and right, and places it onto the larger green lego brick resting on the dark flat surface."}, {"label": "subtasks", "start_step": 292, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: hold: Right hand holds the small green 2x2 lego brick steadily on top of the larger green lego brick with no observable movement of the hand or the bricks."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: release: Right hand opens fingers to release the small green 2x2 lego brick, with the index finger lifting slightly away from the brick's top surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach: Right hand moves while empty toward the small blue 2x2 lego brick on the dark gray surface, without making contact with the brick."}, {"label": "subtasks", "start_step": 435, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the small blue 2x2 lego brick, forming a stable grasp while the brick remains resting on the dark surface."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift: Right hand lifts the grasped blue 2x2 lego brick upward, fully lifting the brick off the dark supporting surface."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: transport: Right hand carries the lifted blue lego brick leftward through the air, moving it to the position directly above the adjacent green lego brick."}, {"label": "subtasks", "start_step": 600, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: mate_release: Right hand aligns the held blue 2x2 lego brick with the green lego brick below, presses downward to fit the two bricks together into a connected assembly, opens fingers to release the assembled blue brick and separates from the brick surface."}, {"label": "subtasks", "start_step": 705, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach_grasp: Right hand moves toward the small orange 2x2 lego brick resting on the dark flat surface, closes fingers around the brick while making slight adjustments to finger positions and wrist posture to form a stable grasp, with the brick remaining on the dark support surface."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped small orange 2x2 lego brick completely off the dark support surface, moves it leftward toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: place: Right hand lowers the small orange 2x2 lego brick onto the top surface of the stacked blue and green lego bricks until the brick is stably supported by the target structure."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: hold: Right hand holds the small orange 2x2 lego brick steadily on top of the stacked blue and green lego bricks, with no observable movement of the hand or the brick."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: release: Right hand releases the stacked lego blocks on the dark flat surface, with fingers adjusting position around the stack, the index finger applying light pressure to the top orange lego brick, and fingers opening to separate from the lego stack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: return_home: Right hand moves upward and backward from the position above the lego stack back to its right-side home position, and stops steadily at the home position."}, {"label": "subtasks", "start_step": 1132, "end_step": 1160, "id": "reasoning-language-00019", "text": "Left hand: return_home: Left hand moves downward from the upper left position back to its left-side home position, with fingers slightly spreading, and stops steadily at the home position. | Right hand: return_home: Right hand moves upward and backward from the position above the lego stack back to its right-side home position, and stops steadily at the home position."}], "episode_index": 6}
+{"source_uid": "2aa2fca4a46fe51d", "num_frames": 1698, "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": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the small green block on the black table."}, {"label": "valid", "start_step": 0, "end_step": 1664, "id": "p1eW6UDqEPr-jWQR65XeF"}, {"label": "subtasks", "start_step": 98, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the small green block on the black table."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green block away from the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand carries the small green block and moves toward the left side of the table."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: reach: Left hand moves toward the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block steadily without obvious movement."}, {"label": "subtasks", "start_step": 308, "end_step": 427, "id": "reasoning-language-00006", "text": "Left hand: grasp: Left hand adjusts fingers and closes to grasp the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block steadily without obvious movement."}, {"label": "subtasks", "start_step": 428, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand adjusts fingers and closes to grasp the small green block held by the right hand. | Right hand: release: Right hand releases the small green block, separating fingers from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: place: Left hand moves downward to place the small green block onto the table surface. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: release: Left hand opens fingers to release the small green block, separating from the block. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: retreat: Left hand moves upward away from the placed small green block. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00011", "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 small green block on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 621, "id": "reasoning-language-00012", "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 around the small green block and makes slight adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 622, "end_step": 727, "id": "reasoning-language-00013", "text": "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 block from the table and transports it above the long green block."}, {"label": "subtasks", "start_step": 728, "end_step": 907, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the position of the small green block to align it with the top surface of the long green block for assembly."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00015", "text": "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 block onto the top of the long green block."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens its fingers to release the small green block."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00017", "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 blue block placed on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift: Right hand lifts the blue block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1207, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand moves the held blue block toward the green block on the table."}, {"label": "subtasks", "start_step": 1208, "end_step": 1297, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand assembles the blue block onto the top of the green block by pressing slightly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the blue block, with fingers separating from the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00023", "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 block on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand closes fingers around the orange block, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00025", "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 block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand carries the orange block leftward toward the green-blue block on the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00027", "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 block onto the top of the green-blue block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1551, "id": "reasoning-language-00028", "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 block down to mate with the green-blue block below."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens fingers to release the orange block."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves away from the assembled blocks toward the right side."}, {"label": "subtasks", "start_step": 1650, "end_step": 1697, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving."}, {"label": "home", "start_step": 1665, "end_step": 1697, "id": "pz_gtEFEk8ptUr7DiE-5n"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the small green block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the small green block on the black table."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green block away from the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand carries the small green block and moves toward the left side of the table."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: reach: Left hand moves toward the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block steadily without obvious movement."}, {"label": "subtasks", "start_step": 308, "end_step": 427, "id": "reasoning-language-00006", "text": "Left hand: grasp: Left hand adjusts fingers and closes to grasp the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block steadily without obvious movement."}, {"label": "subtasks", "start_step": 428, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand adjusts fingers and closes to grasp the small green block held by the right hand. | Right hand: release: Right hand releases the small green block, separating fingers from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: place: Left hand moves downward to place the small green block onto the table surface. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: release: Left hand opens fingers to release the small green block, separating from the block. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: retreat: Left hand moves upward away from the placed small green block. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00011", "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 small green block on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 621, "id": "reasoning-language-00012", "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 around the small green block and makes slight adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 622, "end_step": 727, "id": "reasoning-language-00013", "text": "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 block from the table and transports it above the long green block."}, {"label": "subtasks", "start_step": 728, "end_step": 907, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the position of the small green block to align it with the top surface of the long green block for assembly."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00015", "text": "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 block onto the top of the long green block."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens its fingers to release the small green block."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00017", "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 blue block placed on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift: Right hand lifts the blue block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1207, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand moves the held blue block toward the green block on the table."}, {"label": "subtasks", "start_step": 1208, "end_step": 1297, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand assembles the blue block onto the top of the green block by pressing slightly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the blue block, with fingers separating from the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00023", "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 block on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand closes fingers around the orange block, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00025", "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 block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand carries the orange block leftward toward the green-blue block on the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00027", "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 block onto the top of the green-blue block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1551, "id": "reasoning-language-00028", "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 block down to mate with the green-blue block below."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens fingers to release the orange block."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves away from the assembled blocks toward the right side."}, {"label": "subtasks", "start_step": 1650, "end_step": 1697, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving."}], "episode_index": 7}
+{"source_uid": "45e57db528a33e70", "num_frames": 1175, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1135, "id": "2DnK34ekecSJXlHLLVPVU"}, {"label": "subtasks", "start_step": 15, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward toward the small green lego brick on the black table, with fingers extended and slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 112, "end_step": 344, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the small green lego brick, adjusting finger positions and wrist orientation around the brick to secure a grip while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts finger positions to close around the small green lego brick on the dark surface, forming a stable grip on the brick."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00004", "text": "Right hand: hold: Right hand holds the small green lego brick steadily on the dark surface without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the small green lego brick upward, completely separating it from the dark supporting surface."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand carries the small green lego brick toward the larger green lego brick, rotating the brick slightly to adjust its orientation during movement."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00007", "text": "Right hand: place: Right hand lowers the small green lego brick onto the surface of the larger green lego brick until the small brick is stably supported."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00008", "text": "Right hand: release: Right hand opens its fingers to release the small green lego brick, separating the hand from the brick."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00009", "text": "Right hand: reach: Right hand moves toward the blue lego brick on the dark flat surface while empty, approaching the target object."}, {"label": "subtasks", "start_step": 668, "end_step": 734, "id": "reasoning-language-00010", "text": "Right hand: grasp: Right hand closes fingers around the blue lego brick, making small adjustments to finger positions to establish a stable grip, with the brick remaining on the dark surface."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00011", "text": "Right hand: lift: Right hand lifts the grasped blue lego brick upward, raising it completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00012", "text": "Right hand: transport: Right hand carries the lifted blue lego brick horizontally leftward, moving it directly over the adjacent green lego brick."}, {"label": "subtasks", "start_step": 772, "end_step": 884, "id": "reasoning-language-00013", "text": "Right hand: mate: Right hand aligns the blue lego brick with the connection studs on the green lego brick, making slight positional adjustments and pressing down to fit the two bricks together securely."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00014", "text": "Right hand: release: Right hand opens its fingers to release the assembled blue lego brick, separating the hand from the brick."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00015", "text": "Right hand: reach: Right hand moves right toward the orange lego brick on the dark flat surface, with fingers held in a slightly extended position."}, {"label": "subtasks", "start_step": 945, "end_step": 997, "id": "reasoning-language-00016", "text": "Right hand: grasp: Right hand closes fingers around the orange lego brick, making small finger and wrist adjustments to form a stable grip while the brick stays on the dark surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00017", "text": "Right hand: lift_transport: Right hand lifts the orange lego brick fully off the dark surface, then moves the brick left toward the stacked green and blue lego bricks with slight wrist rotation."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00018", "text": "Right hand: place: Right hand lowers the orange lego brick onto the top of the stacked lego bricks, adjusting position slightly until the brick is fully supported by the stack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00019", "text": "Right hand: release: Right hand opens its fingers to release the orange lego brick resting securely on the lego stack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00020", "text": "Right hand: retreat: Right hand moves right away from the stacked lego bricks, remaining empty as it withdraws."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00021", "text": "Left hand: return_home: Left hand remains empty, moves upward back to its initial raised home position with slight finger adjustments during the movement. | Right hand: return_home: Right hand remains empty, moves upward back to its initial raised home position with slight finger adjustments during the movement."}, {"label": "home", "start_step": 1136, "end_step": 1174, "id": "QQ2hgaNGQzi0URXy7Df-b"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward toward the small green lego brick on the black table, with fingers extended and slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 112, "end_step": 344, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the small green lego brick, adjusting finger positions and wrist orientation around the brick to secure a grip while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts finger positions to close around the small green lego brick on the dark surface, forming a stable grip on the brick."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00004", "text": "Right hand: hold: Right hand holds the small green lego brick steadily on the dark surface without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the small green lego brick upward, completely separating it from the dark supporting surface."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand carries the small green lego brick toward the larger green lego brick, rotating the brick slightly to adjust its orientation during movement."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00007", "text": "Right hand: place: Right hand lowers the small green lego brick onto the surface of the larger green lego brick until the small brick is stably supported."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00008", "text": "Right hand: release: Right hand opens its fingers to release the small green lego brick, separating the hand from the brick."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00009", "text": "Right hand: reach: Right hand moves toward the blue lego brick on the dark flat surface while empty, approaching the target object."}, {"label": "subtasks", "start_step": 668, "end_step": 734, "id": "reasoning-language-00010", "text": "Right hand: grasp: Right hand closes fingers around the blue lego brick, making small adjustments to finger positions to establish a stable grip, with the brick remaining on the dark surface."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00011", "text": "Right hand: lift: Right hand lifts the grasped blue lego brick upward, raising it completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00012", "text": "Right hand: transport: Right hand carries the lifted blue lego brick horizontally leftward, moving it directly over the adjacent green lego brick."}, {"label": "subtasks", "start_step": 772, "end_step": 884, "id": "reasoning-language-00013", "text": "Right hand: mate: Right hand aligns the blue lego brick with the connection studs on the green lego brick, making slight positional adjustments and pressing down to fit the two bricks together securely."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00014", "text": "Right hand: release: Right hand opens its fingers to release the assembled blue lego brick, separating the hand from the brick."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00015", "text": "Right hand: reach: Right hand moves right toward the orange lego brick on the dark flat surface, with fingers held in a slightly extended position."}, {"label": "subtasks", "start_step": 945, "end_step": 997, "id": "reasoning-language-00016", "text": "Right hand: grasp: Right hand closes fingers around the orange lego brick, making small finger and wrist adjustments to form a stable grip while the brick stays on the dark surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00017", "text": "Right hand: lift_transport: Right hand lifts the orange lego brick fully off the dark surface, then moves the brick left toward the stacked green and blue lego bricks with slight wrist rotation."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00018", "text": "Right hand: place: Right hand lowers the orange lego brick onto the top of the stacked lego bricks, adjusting position slightly until the brick is fully supported by the stack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00019", "text": "Right hand: release: Right hand opens its fingers to release the orange lego brick resting securely on the lego stack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00020", "text": "Right hand: retreat: Right hand moves right away from the stacked lego bricks, remaining empty as it withdraws."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00021", "text": "Left hand: return_home: Left hand remains empty, moves upward back to its initial raised home position with slight finger adjustments during the movement. | Right hand: return_home: Right hand remains empty, moves upward back to its initial raised home position with slight finger adjustments during the movement."}], "episode_index": 8}
+{"source_uid": "59432904fdb5cb3c", "num_frames": 1032, "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": 44, "id": "reasoning-language-00001", "text": "Left hand: other:extend_fingers: Left hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand. | Right hand: other:extend_fingers: Right hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand."}, {"label": "valid", "start_step": 0, "end_step": 995, "id": "3ZeVsnyN2yVWcOvemisji"}, {"label": "subtasks", "start_step": 45, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: other:extend_fingers: Right hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand moves downward toward the lego blocks placed on the black table surface, with fingers kept open."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green 2x2 lego block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 180, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions, contact points and wrist orientation to close around the small 2x2 light green lego brick on the dark surface, shifting the brick slightly to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the small 2x2 light green lego brick steadily on the dark surface with no visible movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: release: Right hand opens its fingers to release the light green lego brick on the dark flat surface."}, {"label": "subtasks", "start_step": 315, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand moves empty through the air toward the small blue lego brick, approaching the brick without forming a grip."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand closes its fingers around the small blue lego brick, making small finger adjustments to establish contact with the brick."}, {"label": "subtasks", "start_step": 435, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand makes slight finger adjustments to establish a stable grip on the blue lego brick resting on the dark table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: lift_transport: Right hand lifts the blue lego brick slightly off the dark surface and moves it to position directly above the stacked green lego bricks."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: place: Right hand lowers the blue lego brick onto the top surface of the green lego stack until the blue brick is fully supported by the green bricks."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the blue lego brick steadily on top of the green lego stack without any observable movement of the hand or the brick."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions and wrist orientation to establish a grasp on the stacked light green and blue lego bricks, slightly rotating the bricks to align them on the dark flat supporting surface."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: release_retreat: Right hand opens fingers to release contact with the stacked light green and blue lego bricks, moving slightly away from the bricks to exit the immediate contact area."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand gradually closes fingers to grasp the 2x2 orange lego brick placed on the black surface."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: lift: Right hand moves upward to lift the grasped 2x2 orange lego brick, fully separating it from the black supporting surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: transport_place: Right hand carries the grasped 2x2 orange lego brick to the position above the stacked blue and green lego bricks, moving downward to set the orange brick onto the top surface of the stacked bricks."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a grip on the orange lego brick resting on the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the orange lego brick steadily, the brick stays on the supporting stacked lego bricks with no visible movement of the hand or brick."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand extends the index finger and moves toward the top surface of the stacked orange lego brick, with no contact established with the brick during the movement."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: press: Right hand places the index finger on the top surface of the orange lego brick and presses downward vertically to apply pressure to the brick."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: other:adjust_hand_posture: Left hand stays in the upper left area, rotates the wrist slightly and closes the fingers to adjust to the resting posture while remaining empty. | Right hand: return_home: Right hand moves upward away from the stacked lego blocks with empty hand, returning to its initial upper resting position."}, {"label": "home", "start_step": 996, "end_step": 1031, "id": "vnJhjwocRz-au8SZ6NUWi"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:extend_fingers: Left hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand. | Right hand: other:extend_fingers: Right hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand."}, {"label": "subtasks", "start_step": 45, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: other:extend_fingers: Right hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand moves downward toward the lego blocks placed on the black table surface, with fingers kept open."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green 2x2 lego block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 180, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions, contact points and wrist orientation to close around the small 2x2 light green lego brick on the dark surface, shifting the brick slightly to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the small 2x2 light green lego brick steadily on the dark surface with no visible movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: release: Right hand opens its fingers to release the light green lego brick on the dark flat surface."}, {"label": "subtasks", "start_step": 315, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand moves empty through the air toward the small blue lego brick, approaching the brick without forming a grip."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand closes its fingers around the small blue lego brick, making small finger adjustments to establish contact with the brick."}, {"label": "subtasks", "start_step": 435, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand makes slight finger adjustments to establish a stable grip on the blue lego brick resting on the dark table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: lift_transport: Right hand lifts the blue lego brick slightly off the dark surface and moves it to position directly above the stacked green lego bricks."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: place: Right hand lowers the blue lego brick onto the top surface of the green lego stack until the blue brick is fully supported by the green bricks."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the blue lego brick steadily on top of the green lego stack without any observable movement of the hand or the brick."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions and wrist orientation to establish a grasp on the stacked light green and blue lego bricks, slightly rotating the bricks to align them on the dark flat supporting surface."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: release_retreat: Right hand opens fingers to release contact with the stacked light green and blue lego bricks, moving slightly away from the bricks to exit the immediate contact area."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand gradually closes fingers to grasp the 2x2 orange lego brick placed on the black surface."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: lift: Right hand moves upward to lift the grasped 2x2 orange lego brick, fully separating it from the black supporting surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: transport_place: Right hand carries the grasped 2x2 orange lego brick to the position above the stacked blue and green lego bricks, moving downward to set the orange brick onto the top surface of the stacked bricks."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a grip on the orange lego brick resting on the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the orange lego brick steadily, the brick stays on the supporting stacked lego bricks with no visible movement of the hand or brick."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand extends the index finger and moves toward the top surface of the stacked orange lego brick, with no contact established with the brick during the movement."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: press: Right hand places the index finger on the top surface of the orange lego brick and presses downward vertically to apply pressure to the brick."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: other:adjust_hand_posture: Left hand stays in the upper left area, rotates the wrist slightly and closes the fingers to adjust to the resting posture while remaining empty. | Right hand: return_home: Right hand moves upward away from the stacked lego blocks with empty hand, returning to its initial upper resting position."}], "episode_index": 9}
+{"source_uid": "20772beaf5be7a70", "num_frames": 1656, "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": 44, "id": "reasoning-language-00001", "text": "Left hand: other:move_slightly_upward: Left hand moves slightly upward while remaining empty. | Right hand: reach: Right hand moves downward toward the orange block on the black table, remaining empty during movement."}, {"label": "valid", "start_step": 0, "end_step": 1611, "id": "Dkhy55zAl3gZkfrq--p7K"}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the orange block on the black table, remaining empty during movement."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the small green building block on the black mat to establish a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the small green building block off the black mat and moves it rightward above the longer green building block."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the small green building block onto the top surface of the longer green building block on the black mat."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the stacked green building blocks on the black tabletop."}, {"label": "subtasks", "start_step": 322, "end_step": 531, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: other:adjust_stacked_blocks_position_alignment: Right hand moves and rotates the stacked green building blocks on the black tabletop to adjust their position and alignment."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand releases the stacked green building blocks, with fingers separating from the blocks."}, {"label": "subtasks", "start_step": 555, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the stacked green building blocks on the black table."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to establish stable grasp on the stacked green building blocks."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the stacked green building blocks and moves them towards the orange building block."}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the stacked green building blocks onto the target position on the table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the stacked green building blocks."}, {"label": "subtasks", "start_step": 990, "end_step": 1071, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue building block on the gray table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: transport: Right hand moves the grasped blue building block leftward toward the green building blocks."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the blue building block with the top of the green building blocks."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: press: Right hand presses the blue building block down onto the green building blocks to secure the connection."}, {"label": "subtasks", "start_step": 1215, "end_step": 1319, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the orange building block on the table."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the orange building block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the orange building block off the table and moves it leftward toward the stacked blue and green building blocks."}, {"label": "subtasks", "start_step": 1418, "end_step": 1521, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the orange building block onto the top of the blue building block, adjusting its position to align properly."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand releases the orange building block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "home", "start_step": 1612, "end_step": 1655, "id": "ao4qqQbzjlryjbJkBOj08"}, {"label": "subtasks", "start_step": 1620, "end_step": 1655, "id": "reasoning-language-00027", "text": "Left hand: return_home: Left hand moves back to its initial home position on the left side and stops. | Right hand: return_home: Right hand moves back to its initial home position on the right side and stops."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:move_slightly_upward: Left hand moves slightly upward while remaining empty. | Right hand: reach: Right hand moves downward toward the orange block on the black table, remaining empty during movement."}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the orange block on the black table, remaining empty during movement."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the small green building block on the black mat to establish a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the small green building block off the black mat and moves it rightward above the longer green building block."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the small green building block onto the top surface of the longer green building block on the black mat."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the stacked green building blocks on the black tabletop."}, {"label": "subtasks", "start_step": 322, "end_step": 531, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: other:adjust_stacked_blocks_position_alignment: Right hand moves and rotates the stacked green building blocks on the black tabletop to adjust their position and alignment."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand releases the stacked green building blocks, with fingers separating from the blocks."}, {"label": "subtasks", "start_step": 555, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the stacked green building blocks on the black table."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to establish stable grasp on the stacked green building blocks."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the stacked green building blocks and moves them towards the orange building block."}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the stacked green building blocks onto the target position on the table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the stacked green building blocks."}, {"label": "subtasks", "start_step": 990, "end_step": 1071, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue building block on the gray table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: transport: Right hand moves the grasped blue building block leftward toward the green building blocks."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the blue building block with the top of the green building blocks."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: press: Right hand presses the blue building block down onto the green building blocks to secure the connection."}, {"label": "subtasks", "start_step": 1215, "end_step": 1319, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the orange building block on the table."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the orange building block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the orange building block off the table and moves it leftward toward the stacked blue and green building blocks."}, {"label": "subtasks", "start_step": 1418, "end_step": 1521, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the orange building block onto the top of the blue building block, adjusting its position to align properly."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand releases the orange building block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 1620, "end_step": 1655, "id": "reasoning-language-00027", "text": "Left hand: return_home: Left hand moves back to its initial home position on the left side and stops. | Right hand: return_home: Right hand moves back to its initial home position on the right side and stops."}], "episode_index": 10}
+{"source_uid": "c1cdb3e019a339ae", "num_frames": 958, "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": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_raised_posture: Left hand moves slightly to the raised position at the left side of the dark table, with fingers extending and spreading open. | Right hand: other:adjust_raised_posture: Right hand moves slightly to the raised position at the right side of the dark table, with wrist rotating slightly and fingers extending open."}, {"label": "valid", "start_step": 0, "end_step": 909, "id": "kFEJEA7Pecnf7ubRLizwf"}, {"label": "subtasks", "start_step": 30, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: idle: Right hand remains empty and stationary at the raised position on the right side of the dark table, with fingers slightly spread."}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand moves downward toward the green lego block placed on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand contacts the green lego block on the dark table, fingers closing and making small adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger and wrist positions to form a stable grasp around the small light green block resting on the black work surface."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift_transport: Right hand lifts the small light green block off the black surface and moves it to a position directly above the larger long green block."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: place: Right hand lowers the small light green block until it rests steadily on the upper surface of the larger long green block."}, {"label": "subtasks", "start_step": 232, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press: Right hand applies downward pressure on the small light green block with small finger adjustments to secure it to the larger long green block."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: release: Right hand releases contact with the green lego block, fingers opening and moving away from the green block surface."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift_transport: Right hand lifts the held blue lego block upward off the dark surface behind the green block, moving the block through air to the position above the target placement spot."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: place: Right hand lowers the blue lego block vertically down to the dark surface at the upper right of the green block, until the block rests stably on the surface and is fully supported."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand makes small, continuous adjustments to finger positions on the blue lego block, repositioning contact points to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger positions to grasp the blue Lego block, moving the block horizontally to position it above the adjacent green Lego block on the dark gray work surface."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press_release: Right hand presses the blue Lego block downward against the green Lego block with minor wrist and finger alignment adjustments, opens fingers to release the block and lifts slightly upward away from the block."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: release: Right hand opens its fingers to release the stacked blue and green building blocks resting on the dark gray surface."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand moves empty across the dark gray surface toward the small orange building block, approaching the target block."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand closes its fingers around the small orange building block, making small contact adjustments to establish a grasp on the block."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the orange building block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift: Right hand lifts the grasped orange building block upward until it is fully separated from the dark supporting surface."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: transport_place: Right hand moves the grasped orange building block to position above the green building block and lowers it to rest on the green building block."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: mate: Right hand adjusts the position of the orange building block to align its connecting points with the studs on the green building block."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: hold: Right hand holds the aligned orange building block on top of the green building block without observable movement."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand extends its index finger and moves it downward toward the top surface of the orange block, with no contact established."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press: Right hand presses its extended index finger against the top surface of the orange block, applying downward vertical pressure."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: return_home: Right hand lifts its index finger away from the orange block, moves backward to the right-side home position, adjusts its fingers to the upright thumb-up pose and stops."}, {"label": "home", "start_step": 910, "end_step": 957, "id": "29A2Us_joDFrXJAOuemgo"}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: other:adjust_hand_to_thumb_up_pose: Left hand rotates its wrist approximately 90 degrees upward and adjusts finger positions to form the upright thumb-up pose, with no obvious overall position shift. | Right hand: return_home: Right hand lifts its index finger away from the orange block, moves backward to the right-side home position, adjusts its fingers to the upright thumb-up pose and stops."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_raised_posture: Left hand moves slightly to the raised position at the left side of the dark table, with fingers extending and spreading open. | Right hand: other:adjust_raised_posture: Right hand moves slightly to the raised position at the right side of the dark table, with wrist rotating slightly and fingers extending open."}, {"label": "subtasks", "start_step": 30, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: idle: Right hand remains empty and stationary at the raised position on the right side of the dark table, with fingers slightly spread."}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand moves downward toward the green lego block placed on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand contacts the green lego block on the dark table, fingers closing and making small adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger and wrist positions to form a stable grasp around the small light green block resting on the black work surface."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift_transport: Right hand lifts the small light green block off the black surface and moves it to a position directly above the larger long green block."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: place: Right hand lowers the small light green block until it rests steadily on the upper surface of the larger long green block."}, {"label": "subtasks", "start_step": 232, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press: Right hand applies downward pressure on the small light green block with small finger adjustments to secure it to the larger long green block."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: release: Right hand releases contact with the green lego block, fingers opening and moving away from the green block surface."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift_transport: Right hand lifts the held blue lego block upward off the dark surface behind the green block, moving the block through air to the position above the target placement spot."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: place: Right hand lowers the blue lego block vertically down to the dark surface at the upper right of the green block, until the block rests stably on the surface and is fully supported."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand makes small, continuous adjustments to finger positions on the blue lego block, repositioning contact points to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger positions to grasp the blue Lego block, moving the block horizontally to position it above the adjacent green Lego block on the dark gray work surface."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press_release: Right hand presses the blue Lego block downward against the green Lego block with minor wrist and finger alignment adjustments, opens fingers to release the block and lifts slightly upward away from the block."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: release: Right hand opens its fingers to release the stacked blue and green building blocks resting on the dark gray surface."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand moves empty across the dark gray surface toward the small orange building block, approaching the target block."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand closes its fingers around the small orange building block, making small contact adjustments to establish a grasp on the block."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the orange building block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift: Right hand lifts the grasped orange building block upward until it is fully separated from the dark supporting surface."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: transport_place: Right hand moves the grasped orange building block to position above the green building block and lowers it to rest on the green building block."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: mate: Right hand adjusts the position of the orange building block to align its connecting points with the studs on the green building block."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: hold: Right hand holds the aligned orange building block on top of the green building block without observable movement."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand extends its index finger and moves it downward toward the top surface of the orange block, with no contact established."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press: Right hand presses its extended index finger against the top surface of the orange block, applying downward vertical pressure."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: return_home: Right hand lifts its index finger away from the orange block, moves backward to the right-side home position, adjusts its fingers to the upright thumb-up pose and stops."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: other:adjust_hand_to_thumb_up_pose: Left hand rotates its wrist approximately 90 degrees upward and adjusts finger positions to form the upright thumb-up pose, with no obvious overall position shift. | Right hand: return_home: Right hand lifts its index finger away from the orange block, moves backward to the right-side home position, adjusts its fingers to the upright thumb-up pose and stops."}], "episode_index": 11}
+{"source_uid": "34c8440eabba4902", "num_frames": 1230, "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:extend_index_middle_fingers_upward: Left hand moves slightly upward while extending and spreading its index and middle fingers. | Right hand: other:extend_index_middle_fingers_upward: Right hand moves slightly upward while extending and spreading its index and middle fingers."}, {"label": "valid", "start_step": 0, "end_step": 1189, "id": "D4HEuZzyXDV_k_7sDLYVJ"}, {"label": "subtasks", "start_step": 38, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: other:extend_index_middle_fingers_upward: Right hand moves slightly upward while extending and spreading its index and middle fingers."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves downward and leftward toward the small green block on the table, with fingers held open."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green block, closing fingers to form a grasp on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table surface, moving the block slightly upward and leftward while holding it."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: place_release: Right hand lowers the small green block back onto the table surface, opening fingers to release the block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves leftward back toward the small green block on the table while empty."}, {"label": "subtasks", "start_step": 202, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts fingers around the small green block again, attempting to establish a stable grasp."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release_retreat: Right hand opens fingers to release the small green block, moving upward and rightward away from the block while empty."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves leftward toward the small green block again while empty, until fingers contact the block."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green block, closing fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes fingers around the small green 1x1 lego block on the dark flat surface, making slight finger adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand moves the grasped small green lego block to align it with the larger green lego block below, adjusting position to fit the small block onto the upper surface of the larger block."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand opens its fingers to release the small green lego block resting on the larger lego block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves away from the stacked green blocks toward the blue 2x2 lego block, with fingers held slightly open during the movement."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand positions fingers around the blue 2x2 lego block, closes and adjusts fingers to establish a stable grasp while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes its fingers to establish a firm grip on the blue 2x2 lego block resting on the dark flat work surface."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift_transport: Right hand lifts the blue 2x2 lego block completely off the dark surface and moves it to a position directly above the adjacent green lego block."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reorient: Right hand rotates the gripped blue lego block slightly to adjust its orientation while positioned above the green lego block."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand lowers the blue lego block to align and press it into contact with the top surface of the green lego block."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: hold: Right hand holds the mated blue lego block on top of the green lego block without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand opens its fingers to release the grip on the blue lego block, separating the hand from the block."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves empty away from the stacked blue and green block toward the small orange 1x1 block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes fingers around the small orange 1x1 block, making small adjustments to establish a stable grip while the block remains on the dark flat surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift: Right hand lifts the grasped small orange 1x1 block upward until it is fully raised off the dark flat surface."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: transport: Right hand moves the held small orange 1x1 block leftward across the space to position it above the stacked blue and green block."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand aligns the held small orange 1x1 block directly above the stacked blue and green block to position it for attachment."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand adjusts the small orange lego block with fine finger movements, making slight positional and rotational adjustments to align its connecting studs with the green lego block underneath."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: hold: Right hand holds the aligned small orange lego block steady on the green lego block without any movement of the hand or block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand lifts its fingers upward off the small orange lego block, releasing contact with the block."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: return_home: Left hand moves empty backward from its extended left forward position to return to the front home position, with fingers gradually closing into a relaxed posture. | Right hand: release: Right hand opens its fingers to release the orange lego block resting on the stacked green lego block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00035", "text": "Left hand: return_home: Left hand moves empty backward from its extended left forward position to return to the front home position, with fingers gradually closing into a relaxed posture. | Right hand: return_home: Right hand moves empty upward and backward to return to the front home position, with fingers gradually closing into a relaxed posture."}, {"label": "home", "start_step": 1190, "end_step": 1229, "id": "_JKcQT40YyvnhXpU35E5S"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:extend_index_middle_fingers_upward: Left hand moves slightly upward while extending and spreading its index and middle fingers. | Right hand: other:extend_index_middle_fingers_upward: Right hand moves slightly upward while extending and spreading its index and middle fingers."}, {"label": "subtasks", "start_step": 38, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: other:extend_index_middle_fingers_upward: Right hand moves slightly upward while extending and spreading its index and middle fingers."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves downward and leftward toward the small green block on the table, with fingers held open."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green block, closing fingers to form a grasp on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table surface, moving the block slightly upward and leftward while holding it."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: place_release: Right hand lowers the small green block back onto the table surface, opening fingers to release the block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves leftward back toward the small green block on the table while empty."}, {"label": "subtasks", "start_step": 202, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts fingers around the small green block again, attempting to establish a stable grasp."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release_retreat: Right hand opens fingers to release the small green block, moving upward and rightward away from the block while empty."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves leftward toward the small green block again while empty, until fingers contact the block."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green block, closing fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes fingers around the small green 1x1 lego block on the dark flat surface, making slight finger adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand moves the grasped small green lego block to align it with the larger green lego block below, adjusting position to fit the small block onto the upper surface of the larger block."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand opens its fingers to release the small green lego block resting on the larger lego block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves away from the stacked green blocks toward the blue 2x2 lego block, with fingers held slightly open during the movement."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand positions fingers around the blue 2x2 lego block, closes and adjusts fingers to establish a stable grasp while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes its fingers to establish a firm grip on the blue 2x2 lego block resting on the dark flat work surface."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift_transport: Right hand lifts the blue 2x2 lego block completely off the dark surface and moves it to a position directly above the adjacent green lego block."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reorient: Right hand rotates the gripped blue lego block slightly to adjust its orientation while positioned above the green lego block."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand lowers the blue lego block to align and press it into contact with the top surface of the green lego block."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: hold: Right hand holds the mated blue lego block on top of the green lego block without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand opens its fingers to release the grip on the blue lego block, separating the hand from the block."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves empty away from the stacked blue and green block toward the small orange 1x1 block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes fingers around the small orange 1x1 block, making small adjustments to establish a stable grip while the block remains on the dark flat surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift: Right hand lifts the grasped small orange 1x1 block upward until it is fully raised off the dark flat surface."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: transport: Right hand moves the held small orange 1x1 block leftward across the space to position it above the stacked blue and green block."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand aligns the held small orange 1x1 block directly above the stacked blue and green block to position it for attachment."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand adjusts the small orange lego block with fine finger movements, making slight positional and rotational adjustments to align its connecting studs with the green lego block underneath."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: hold: Right hand holds the aligned small orange lego block steady on the green lego block without any movement of the hand or block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand lifts its fingers upward off the small orange lego block, releasing contact with the block."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: return_home: Left hand moves empty backward from its extended left forward position to return to the front home position, with fingers gradually closing into a relaxed posture. | Right hand: release: Right hand opens its fingers to release the orange lego block resting on the stacked green lego block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00035", "text": "Left hand: return_home: Left hand moves empty backward from its extended left forward position to return to the front home position, with fingers gradually closing into a relaxed posture. | Right hand: return_home: Right hand moves empty upward and backward to return to the front home position, with fingers gradually closing into a relaxed posture."}], "episode_index": 12}
+{"source_uid": "d00f76f2b3b51ae4", "num_frames": 1796, "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": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts finger posture and wrist orientation at the left upper area of the black table. | Right hand: reach: Right hand moves toward the small green block on the black table until fingers touch the block."}, {"label": "valid", "start_step": 0, "end_step": 1753, "id": "ZLQd4Mruv_NFw4xJrR-Ei"}, {"label": "subtasks", "start_step": 22, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the small green block on the black table until fingers touch the block."}, {"label": "subtasks", "start_step": 120, "end_step": 291, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reorient: Right hand rotates the small green block slightly on the black surface to adjust its orientation."}, {"label": "subtasks", "start_step": 292, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the small green block and moves upward away from the block."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves towards the small green block placed on the black surface."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the small green block."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the small green block off the black surface and moves it right towards the larger green block."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small green block."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the small green block off the supporting surface and transports it above the larger light green block."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand lowers the small green block onto the top surface of the larger light green block."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the small green block down to secure it attached to the larger light green block."}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts its grip on the green block placed on the dark table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: hold: Right hand holds the green block on the table without moving."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the blue block on the table."}, {"label": "subtasks", "start_step": 840, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand closes its fingers to grasp the blue block on the dark surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift: Right hand lifts the blue block upward away from the dark surface."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: transport: Right hand transports the blue block horizontally to the position above the small green block."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand lowers the blue block onto the top surface of the small green block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1101, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the blue block downward to attach it firmly to the green block."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release_retreat: Right hand releases the blue block and retreats slightly away from the assembled blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the orange block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts fingers to close and form a stable grip on the orange block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the orange block off the table and moves it toward the green block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: transport: Right hand transports the orange block towards the top of the blue block."}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand places the orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1627, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand repeatedly presses the orange block down against the blue block."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the orange block and separates from the block."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: retreat: Right hand retreats away from the stacked blocks."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the blue building block on top of the stacked blocks on the table."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: retreat: Right hand moves backward away from the stacked building blocks toward its initial position."}, {"label": "subtasks", "start_step": 1740, "end_step": 1795, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table."}, {"label": "home", "start_step": 1754, "end_step": 1795, "id": "7djpYa4CjWnWd_IyKtGOl"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts finger posture and wrist orientation at the left upper area of the black table. | Right hand: reach: Right hand moves toward the small green block on the black table until fingers touch the block."}, {"label": "subtasks", "start_step": 22, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the small green block on the black table until fingers touch the block."}, {"label": "subtasks", "start_step": 120, "end_step": 291, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reorient: Right hand rotates the small green block slightly on the black surface to adjust its orientation."}, {"label": "subtasks", "start_step": 292, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the small green block and moves upward away from the block."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves towards the small green block placed on the black surface."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the small green block."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the small green block off the black surface and moves it right towards the larger green block."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small green block."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the small green block off the supporting surface and transports it above the larger light green block."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand lowers the small green block onto the top surface of the larger light green block."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the small green block down to secure it attached to the larger light green block."}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts its grip on the green block placed on the dark table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: hold: Right hand holds the green block on the table without moving."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the blue block on the table."}, {"label": "subtasks", "start_step": 840, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand closes its fingers to grasp the blue block on the dark surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift: Right hand lifts the blue block upward away from the dark surface."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: transport: Right hand transports the blue block horizontally to the position above the small green block."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand lowers the blue block onto the top surface of the small green block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1101, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the blue block downward to attach it firmly to the green block."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release_retreat: Right hand releases the blue block and retreats slightly away from the assembled blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the orange block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts fingers to close and form a stable grip on the orange block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the orange block off the table and moves it toward the green block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: transport: Right hand transports the orange block towards the top of the blue block."}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand places the orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1627, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand repeatedly presses the orange block down against the blue block."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the orange block and separates from the block."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: retreat: Right hand retreats away from the stacked blocks."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the blue building block on top of the stacked blocks on the table."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: retreat: Right hand moves backward away from the stacked building blocks toward its initial position."}, {"label": "subtasks", "start_step": 1740, "end_step": 1795, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table."}], "episode_index": 13}
+{"source_uid": "a9813520a54fda12", "num_frames": 2206, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: idle: Right hand remains empty at the upper right initial position without obvious displacement."}, {"label": "valid", "start_step": 0, "end_step": 2160, "id": "gpVEyA8MduV2T9y9_rVEY"}, {"label": "subtasks", "start_step": 60, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: reach: Right hand moves downward toward the small green 2x2 block on the table, with fingers slightly extended, approaching the block without stable contact."}, {"label": "subtasks", "start_step": 128, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the small green 2x2 block to form a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: lift: Right hand holds the grasped small green 2x2 block and moves upward, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "id": "reasoning-language-00005", "text": "Left hand: reach: Left hand moves downward and rightward with slightly open fingers to approach the small green block held by the right hand. | Right hand: lift_transport: Right hand lifts the small green block off the dark supporting surface and moves it leftward toward the approaching left hand."}, {"label": "subtasks", "start_step": 338, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: reach: Left hand moves downward and rightward with slightly open fingers to approach the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 382, "end_step": 479, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand contacts the small green block and adjusts its fingers to close around the block to establish a grasp. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand grips the small green block and moves it downward toward the long green block placed on the dark table surface. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 555, "end_step": 651, "id": "reasoning-language-00009", "text": "Left hand: place_release: Left hand lowers the small green block onto the dark table surface next to the long green block, releases its grip as the block rests stably on the surface. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: retreat: Empty left hand moves upward, retreating from the position of the placed small green block. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves downward toward the small loose green block on the dark surface, with fingers slightly spread, without contacting the block."}, {"label": "subtasks", "start_step": 712, "end_step": 787, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small loose green block on the dark surface, adjusting finger contact positions to establish a stable grasp, while the block remains resting on the supporting surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand moves upward while holding the small green block, lifting the block completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand moves upward and slightly toward the center of the workspace while holding the lifted small green block, transporting the block through the air above the surface."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the held small green block, separating from the block which falls onto the dark supporting surface."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves downward toward the small green block resting on the lower right table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 930, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small green block on the lower right table, making small adjustments to finger positions to establish a firm grip while the block stays in contact with the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped small green block off the table surface and moves it leftward to a position directly above the long green block at the center of the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place: Right hand lowers the small green block until it rests on the top surface of the long green block, supported by the block below."}, {"label": "subtasks", "start_step": 1088, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand makes small positional adjustments to the small green block to align its connecting features with the long green block for assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1304, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press: Right hand presses vertically downward on the top surface of the small green block to secure it to the long green block below."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves empty toward the small blue lego block resting on the dark gray surface, approaching the target to prepare for grasping."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small blue lego block, making slight adjustments to finger contact points to form a stable grasp while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped small blue lego block upward, fully detaching it from the dark gray supporting surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reorient: Right hand rotates the wrist to flip the grasped blue lego block approximately 180 degrees, turning the studded face upward with minimal change to the block's horizontal position."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place: Right hand moves downward to place the flipped blue lego block back onto the dark gray surface, with the block fully supported by the surface at the end of the segment while the hand still holds it."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand makes slight adjustments to finger positions and pressure on the blue lego block to re-stabilize the grasp, with visible small movements of the fingers and wrist."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped blue lego block upward again, fully lifting it off the dark gray surface to prepare for relocation."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the grasped blue lego block through the air, moving downward toward the upright green lego block positioned below the blue block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand aligns the bottom of the blue lego block with the top studs of the green lego block, positioning the two blocks to engage in assembly."}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press_release: Right hand applies downward pressure on the blue lego block to press it firmly onto the green lego block to complete assembly, opens fingers to release the block and separate from it."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves toward the small orange lego block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small orange lego block, making small adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped small orange lego block completely off the dark work surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted orange lego block a short distance toward the stacked two-block lego tower."}, {"label": "subtasks", "start_step": 1852, "end_step": 1867, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place_release: Right hand lowers the orange lego block onto the dark work surface, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand adjusts its position and moves fingers toward the resting orange lego block to re-establish a grip."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the orange lego block, making small adjustments to secure a stable grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the re-grasped orange lego block fully off the dark work surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted orange lego block directly over the top surface of the blue lego block on the stack."}, {"label": "subtasks", "start_step": 1980, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand aligns the orange lego block with the connecting studs on the top of the blue lego block, positioning it to fit onto the stack."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press: Right hand applies downward vertical pressure on the top surface of the orange lego block to secure it to the lego stack below."}, {"label": "subtasks", "start_step": 2130, "end_step": 2204, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects."}, {"label": "home", "start_step": 2161, "end_step": 2205, "id": "nxoem9M_wwEWHlmbuMuWr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: idle: Right hand remains empty at the upper right initial position without obvious displacement."}, {"label": "subtasks", "start_step": 60, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: reach: Right hand moves downward toward the small green 2x2 block on the table, with fingers slightly extended, approaching the block without stable contact."}, {"label": "subtasks", "start_step": 128, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the small green 2x2 block to form a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: lift: Right hand holds the grasped small green 2x2 block and moves upward, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "id": "reasoning-language-00005", "text": "Left hand: reach: Left hand moves downward and rightward with slightly open fingers to approach the small green block held by the right hand. | Right hand: lift_transport: Right hand lifts the small green block off the dark supporting surface and moves it leftward toward the approaching left hand."}, {"label": "subtasks", "start_step": 338, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: reach: Left hand moves downward and rightward with slightly open fingers to approach the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 382, "end_step": 479, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand contacts the small green block and adjusts its fingers to close around the block to establish a grasp. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand grips the small green block and moves it downward toward the long green block placed on the dark table surface. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 555, "end_step": 651, "id": "reasoning-language-00009", "text": "Left hand: place_release: Left hand lowers the small green block onto the dark table surface next to the long green block, releases its grip as the block rests stably on the surface. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: retreat: Empty left hand moves upward, retreating from the position of the placed small green block. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves downward toward the small loose green block on the dark surface, with fingers slightly spread, without contacting the block."}, {"label": "subtasks", "start_step": 712, "end_step": 787, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small loose green block on the dark surface, adjusting finger contact positions to establish a stable grasp, while the block remains resting on the supporting surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand moves upward while holding the small green block, lifting the block completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand moves upward and slightly toward the center of the workspace while holding the lifted small green block, transporting the block through the air above the surface."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the held small green block, separating from the block which falls onto the dark supporting surface."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves downward toward the small green block resting on the lower right table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 930, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small green block on the lower right table, making small adjustments to finger positions to establish a firm grip while the block stays in contact with the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped small green block off the table surface and moves it leftward to a position directly above the long green block at the center of the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place: Right hand lowers the small green block until it rests on the top surface of the long green block, supported by the block below."}, {"label": "subtasks", "start_step": 1088, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand makes small positional adjustments to the small green block to align its connecting features with the long green block for assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1304, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press: Right hand presses vertically downward on the top surface of the small green block to secure it to the long green block below."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves empty toward the small blue lego block resting on the dark gray surface, approaching the target to prepare for grasping."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small blue lego block, making slight adjustments to finger contact points to form a stable grasp while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped small blue lego block upward, fully detaching it from the dark gray supporting surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reorient: Right hand rotates the wrist to flip the grasped blue lego block approximately 180 degrees, turning the studded face upward with minimal change to the block's horizontal position."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place: Right hand moves downward to place the flipped blue lego block back onto the dark gray surface, with the block fully supported by the surface at the end of the segment while the hand still holds it."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand makes slight adjustments to finger positions and pressure on the blue lego block to re-stabilize the grasp, with visible small movements of the fingers and wrist."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped blue lego block upward again, fully lifting it off the dark gray surface to prepare for relocation."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the grasped blue lego block through the air, moving downward toward the upright green lego block positioned below the blue block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand aligns the bottom of the blue lego block with the top studs of the green lego block, positioning the two blocks to engage in assembly."}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press_release: Right hand applies downward pressure on the blue lego block to press it firmly onto the green lego block to complete assembly, opens fingers to release the block and separate from it."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves toward the small orange lego block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small orange lego block, making small adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped small orange lego block completely off the dark work surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted orange lego block a short distance toward the stacked two-block lego tower."}, {"label": "subtasks", "start_step": 1852, "end_step": 1867, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place_release: Right hand lowers the orange lego block onto the dark work surface, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand adjusts its position and moves fingers toward the resting orange lego block to re-establish a grip."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the orange lego block, making small adjustments to secure a stable grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the re-grasped orange lego block fully off the dark work surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted orange lego block directly over the top surface of the blue lego block on the stack."}, {"label": "subtasks", "start_step": 1980, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand aligns the orange lego block with the connecting studs on the top of the blue lego block, positioning it to fit onto the stack."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press: Right hand applies downward vertical pressure on the top surface of the orange lego block to secure it to the lego stack below."}, {"label": "subtasks", "start_step": 2130, "end_step": 2204, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects."}], "episode_index": 14}
+{"source_uid": "a5b1cd69b4381f77", "num_frames": 2547, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_fingers_to_extended_pose: Left hand moves slightly upward at the left side of the table while adjusting its fingers to a fully extended open pose, without holding any object. | Right hand: other:adjust_fingers_to_pre_reach_pose: Right hand moves slightly upward at the right side of the table while adjusting its fingers to a slightly flexed pre-reach pose, without holding any object."}, {"label": "valid", "start_step": 0, "end_step": 2510, "id": "pKr--XiUryjVOsmsZiVpe"}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: other:adjust_fingers_to_pre_reach_pose: Right hand moves slightly upward at the right side of the table while adjusting its fingers to a slightly flexed pre-reach pose, without holding any object."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green block placed on the central table surface, remaining empty and not yet in contact with the block."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the small 2x2 green block, adjusting finger contact positions to form a stable grasp while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped small 2x2 green block vertically upward, separating the block completely from the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the grasped small 2x2 green block downward to position it directly above the larger 2x4 green block on the table."}, {"label": "subtasks", "start_step": 248, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the small 2x2 green block with the connection studs on the larger 2x4 green block, adjusting position and applying downward pressure to fit the two blocks together."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand gradually opens its fingers to release the assembled small green block, with fingers remaining in partial contact with the block at the end of the interval."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: push: Right hand contacts the green block on the dark table surface, pushing the block away to make it slide across the table."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty toward the small blue block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 465, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the small blue block, adjusting finger positions to form a stable grip on the block resting on the table."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped blue block upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted blue block through the air to a position above the table next to the displaced green block."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the blue block down to the table surface until the block is fully supported by the table."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions on the placed blue block slightly to stabilize the grip for subsequent movement."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the grasped blue block across the table to position it adjacent to the green block."}, {"label": "subtasks", "start_step": 750, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the blue block with the green block, pressing the blocks together to fit them into an assembled state."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens fingers to release the assembled blue block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty away from the assembled blocks toward the right side of the workspace."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small orange lego block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the orange lego block to form a stable grip, while the block remains resting on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped orange lego block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted orange lego block leftward to position it directly above the stacked green and blue lego blocks."}, {"label": "subtasks", "start_step": 1050, "end_step": 1177, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand adjusts the orientation of the orange lego block, aligning its connecting studs with the top of the stacked blocks to attempt assembly."}, {"label": "subtasks", "start_step": 1178, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the orange lego block, which drops onto the table adjacent to the stacked blocks."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand repositions its fingers around the orange lego block on the table, making slight adjustments to establish a new stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the re-grasped orange lego block upward until it is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the orange lego block rightward across the table to the area above its original resting position."}, {"label": "subtasks", "start_step": 1402, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the orange lego block downward until the block rests steadily on the dark table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to fully release contact with the orange lego block supported by the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small orange block on the dark table surface, remaining empty with no contact to the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1897, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the orange block, adjusting finger positions repeatedly while slightly rotating and shifting the block on the table surface to form a stable grip."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand holds the orange block and lifts it upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted orange block, moving it horizontally left toward the stacked blue and green blocks."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the orange block to rest stably on the table surface, fingers opening to release contact with the settled block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2151, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach_grasp: Right hand moves slightly to re-contact the orange block on the table, adjusting finger positions while slightly shifting the block to re-establish a stable grip."}, {"label": "subtasks", "start_step": 2152, "end_step": 2234, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the orange block on the table surface without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts and closes fingers around the orange block resting on the dark table to form a stable grasp."}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange block completely off the table surface and moves it over the adjacent stacked green and blue block."}, {"label": "subtasks", "start_step": 2280, "end_step": 2324, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand lowers the orange block to align with the connection points on top of the green and blue block, pressing slightly to fit the two blocks together."}, {"label": "subtasks", "start_step": 2325, "end_step": 2467, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the fully assembled stack of blocks on the table surface without any observable movement of the hand or blocks."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release contact with the top orange block, separating the hand from the assembled block stack."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the stacked colorful blocks resting on the dark table, losing contact with the blocks."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves upward and rightward with empty hand, retreating away from the stacked blocks on the table."}, {"label": "home", "start_step": 2511, "end_step": 2546, "id": "kpt_z_Ae9_BI1HwHvjtXV"}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00045", "text": "Left hand: retreat: Left hand moves upward and backward with empty hand, retreating from the previous outstretched left position. | Right hand: retreat: Right hand moves upward and rightward with empty hand, retreating away from the stacked blocks on the table."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_fingers_to_extended_pose: Left hand moves slightly upward at the left side of the table while adjusting its fingers to a fully extended open pose, without holding any object. | Right hand: other:adjust_fingers_to_pre_reach_pose: Right hand moves slightly upward at the right side of the table while adjusting its fingers to a slightly flexed pre-reach pose, without holding any object."}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: other:adjust_fingers_to_pre_reach_pose: Right hand moves slightly upward at the right side of the table while adjusting its fingers to a slightly flexed pre-reach pose, without holding any object."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green block placed on the central table surface, remaining empty and not yet in contact with the block."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the small 2x2 green block, adjusting finger contact positions to form a stable grasp while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped small 2x2 green block vertically upward, separating the block completely from the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the grasped small 2x2 green block downward to position it directly above the larger 2x4 green block on the table."}, {"label": "subtasks", "start_step": 248, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the small 2x2 green block with the connection studs on the larger 2x4 green block, adjusting position and applying downward pressure to fit the two blocks together."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand gradually opens its fingers to release the assembled small green block, with fingers remaining in partial contact with the block at the end of the interval."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: push: Right hand contacts the green block on the dark table surface, pushing the block away to make it slide across the table."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty toward the small blue block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 465, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the small blue block, adjusting finger positions to form a stable grip on the block resting on the table."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped blue block upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted blue block through the air to a position above the table next to the displaced green block."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the blue block down to the table surface until the block is fully supported by the table."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions on the placed blue block slightly to stabilize the grip for subsequent movement."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the grasped blue block across the table to position it adjacent to the green block."}, {"label": "subtasks", "start_step": 750, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the blue block with the green block, pressing the blocks together to fit them into an assembled state."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens fingers to release the assembled blue block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty away from the assembled blocks toward the right side of the workspace."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small orange lego block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the orange lego block to form a stable grip, while the block remains resting on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped orange lego block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted orange lego block leftward to position it directly above the stacked green and blue lego blocks."}, {"label": "subtasks", "start_step": 1050, "end_step": 1177, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand adjusts the orientation of the orange lego block, aligning its connecting studs with the top of the stacked blocks to attempt assembly."}, {"label": "subtasks", "start_step": 1178, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the orange lego block, which drops onto the table adjacent to the stacked blocks."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand repositions its fingers around the orange lego block on the table, making slight adjustments to establish a new stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the re-grasped orange lego block upward until it is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the orange lego block rightward across the table to the area above its original resting position."}, {"label": "subtasks", "start_step": 1402, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the orange lego block downward until the block rests steadily on the dark table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to fully release contact with the orange lego block supported by the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small orange block on the dark table surface, remaining empty with no contact to the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1897, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the orange block, adjusting finger positions repeatedly while slightly rotating and shifting the block on the table surface to form a stable grip."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand holds the orange block and lifts it upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted orange block, moving it horizontally left toward the stacked blue and green blocks."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the orange block to rest stably on the table surface, fingers opening to release contact with the settled block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2151, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach_grasp: Right hand moves slightly to re-contact the orange block on the table, adjusting finger positions while slightly shifting the block to re-establish a stable grip."}, {"label": "subtasks", "start_step": 2152, "end_step": 2234, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the orange block on the table surface without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts and closes fingers around the orange block resting on the dark table to form a stable grasp."}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange block completely off the table surface and moves it over the adjacent stacked green and blue block."}, {"label": "subtasks", "start_step": 2280, "end_step": 2324, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand lowers the orange block to align with the connection points on top of the green and blue block, pressing slightly to fit the two blocks together."}, {"label": "subtasks", "start_step": 2325, "end_step": 2467, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the fully assembled stack of blocks on the table surface without any observable movement of the hand or blocks."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release contact with the top orange block, separating the hand from the assembled block stack."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the stacked colorful blocks resting on the dark table, losing contact with the blocks."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves upward and rightward with empty hand, retreating away from the stacked blocks on the table."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00045", "text": "Left hand: retreat: Left hand moves upward and backward with empty hand, retreating from the previous outstretched left position. | Right hand: retreat: Right hand moves upward and rightward with empty hand, retreating away from the stacked blocks on the table."}], "episode_index": 15}
+{"source_uid": "954aea526dcb9d38", "num_frames": 1352, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "S", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward from the right side of the table toward the small green block without contacting any object."}, {"label": "valid", "start_step": 0, "end_step": 1308, "id": "SD98I8KyOSwByvtLFOYuF"}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the small green block on the black tabletop to establish stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 329, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00004", "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 off the black table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00005", "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 rightward above the longer green block."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00006", "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 onto the longer green block."}, {"label": "subtasks", "start_step": 405, "end_step": 644, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the blue block on the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "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 grasps the blue block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the dark gray surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "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 from the dark gray surface and transports it above the small green block."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "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 onto the top of the small green block."}, {"label": "subtasks", "start_step": 810, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the small green block to secure the assembly."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the blue block and separates from it."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the orange block on the black table surface without touching the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the orange block and adjusts fingers to form a stable grip on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table surface and transports it to above the blue block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the top of the blue block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1259, "id": "reasoning-language-00019", "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 to attach it firmly to the blue block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the orange block and moves fingers away from the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1351, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "home", "start_step": 1309, "end_step": 1351, "id": "OyJmg3hX2RrlfvcsuIXmy"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward from the right side of the table toward the small green block without contacting any object."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the small green block on the black tabletop to establish stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 329, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00004", "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 off the black table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00005", "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 rightward above the longer green block."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00006", "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 onto the longer green block."}, {"label": "subtasks", "start_step": 405, "end_step": 644, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the blue block on the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "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 grasps the blue block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the dark gray surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "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 from the dark gray surface and transports it above the small green block."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "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 onto the top of the small green block."}, {"label": "subtasks", "start_step": 810, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the small green block to secure the assembly."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the blue block and separates from it."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the orange block on the black table surface without touching the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the orange block and adjusts fingers to form a stable grip on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table surface and transports it to above the blue block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the top of the blue block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1259, "id": "reasoning-language-00019", "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 to attach it firmly to the blue block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the orange block and moves fingers away from the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1351, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}], "episode_index": 16}
+{"source_uid": "d36620069b8d16f1", "num_frames": 1516, "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": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: idle: Right hand remains empty and stationary at the right upper side of the workspace, not yet moving toward the small green 2x2 lego brick."}, {"label": "valid", "start_step": 0, "end_step": 1475, "id": "3EI2xk0CWK76hyvs91VZd"}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves downward with slightly open fingers, approaching the small green 2x2 lego brick placed on the black table surface, without making contact with the brick."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand positions fingers around the small green 2x2 lego brick, adjusting finger placement to initiate contact and prepare for grasping the brick, which remains on the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand moves its fingers around the small green lego brick on the dark surface, closing and adjusting finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand moves upward to lift the securely grasped small green lego brick completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand carries the lifted small green lego brick horizontally toward the larger green lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: place: Right hand lowers the small green lego brick downward until it rests on the top surface of the larger green lego brick."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate: Right hand adjusts the position and orientation of the small green lego brick to align it with the larger green lego brick, applying light downward pressure to seat the bricks together."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: release: Right hand opens its fingers to release its grip on the aligned small green lego brick."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves from the position near the green lego base toward the adjacent small blue 2x2 lego block, with fingers slightly open and not yet in contact with the blue block."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand contacts the small blue 2x2 lego block, gradually closing fingers and adjusting contact positions to establish a stable grasp while the block remains on the dark supporting surface."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table."}, {"label": "subtasks", "start_step": 555, "end_step": 561, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes fingers around the small blue lego brick on the dark table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand raises the grasped small blue lego brick upward until the brick is fully separated from the table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand carries the grasped small blue lego brick horizontally to position it directly above the small green lego brick."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate_release: Right hand aligns the small blue lego brick with connection points on the green lego brick, presses down to attach the two bricks together, opening fingers to release the blue brick."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: idle: Right hand remains empty adjacent to the stacked lego bricks without any observable movement."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves empty from the area near the stacked blue and green bricks toward the small orange 2x2 brick on the dark flat surface, with fingers extended to approach the target."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes fingers around the small orange 2x2 brick, adjusting finger contact to form a stable grip while the brick remains resting on the dark surface."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: hold: Right hand holds the small orange 2x2 brick steadily on the dark flat surface, with no observable movement of the hand, fingers or the gripped brick."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand moves upward while gripping the small orange 2x2 brick, lifting the brick partially away from the dark supporting surface."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand holds the small orange lego brick and moves it leftward above the dark table surface toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: release: Right hand opens its fingers to release the small orange lego brick, which falls and rests on the dark table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves downward with open fingers, approaching the small orange lego brick resting on the table."}, {"label": "subtasks", "start_step": 908, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes its fingers around the small orange lego brick on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes its fingers around the small orange lego brick on the dark table surface to adjust and establish a stable re-grasp."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift_transport: Right hand lifts the grasped small orange lego brick off the dark table surface and moves it downward to position it over the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1118, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate: Right hand adjusts the position of the small orange lego brick to align it with the studs on the stacked green and blue lego bricks, pressing it slightly to fit the two pieces together."}, {"label": "subtasks", "start_step": 1260, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach_grasp: Right hand moves toward the orange lego brick, adjusts finger positions to establish stable contact with the lego stack and aligns the index finger over the top of the orange lego brick."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: press: Right hand presses vertically down on the top surface of the orange lego brick resting on the underlying lego stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: return_home: Left hand rotates its wrist to face the palm forward, extends fingers from a slightly curled posture to a straight upward-pointing posture, and moves slightly upward to return to its initial raised home position. | Right hand: return_home: Right hand rotates its wrist to face the palm forward, extends fingers from a curled grasping posture to a straight upward-pointing posture, and moves upward away from the stacked blocks on the table to return to its initial raised home position."}, {"label": "home", "start_step": 1476, "end_step": 1515, "id": "BItnKvJYn7scnP1K019Vl"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: idle: Right hand remains empty and stationary at the right upper side of the workspace, not yet moving toward the small green 2x2 lego brick."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves downward with slightly open fingers, approaching the small green 2x2 lego brick placed on the black table surface, without making contact with the brick."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand positions fingers around the small green 2x2 lego brick, adjusting finger placement to initiate contact and prepare for grasping the brick, which remains on the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand moves its fingers around the small green lego brick on the dark surface, closing and adjusting finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand moves upward to lift the securely grasped small green lego brick completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand carries the lifted small green lego brick horizontally toward the larger green lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: place: Right hand lowers the small green lego brick downward until it rests on the top surface of the larger green lego brick."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate: Right hand adjusts the position and orientation of the small green lego brick to align it with the larger green lego brick, applying light downward pressure to seat the bricks together."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: release: Right hand opens its fingers to release its grip on the aligned small green lego brick."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves from the position near the green lego base toward the adjacent small blue 2x2 lego block, with fingers slightly open and not yet in contact with the blue block."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand contacts the small blue 2x2 lego block, gradually closing fingers and adjusting contact positions to establish a stable grasp while the block remains on the dark supporting surface."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table."}, {"label": "subtasks", "start_step": 555, "end_step": 561, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes fingers around the small blue lego brick on the dark table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand raises the grasped small blue lego brick upward until the brick is fully separated from the table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand carries the grasped small blue lego brick horizontally to position it directly above the small green lego brick."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate_release: Right hand aligns the small blue lego brick with connection points on the green lego brick, presses down to attach the two bricks together, opening fingers to release the blue brick."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: idle: Right hand remains empty adjacent to the stacked lego bricks without any observable movement."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves empty from the area near the stacked blue and green bricks toward the small orange 2x2 brick on the dark flat surface, with fingers extended to approach the target."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes fingers around the small orange 2x2 brick, adjusting finger contact to form a stable grip while the brick remains resting on the dark surface."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: hold: Right hand holds the small orange 2x2 brick steadily on the dark flat surface, with no observable movement of the hand, fingers or the gripped brick."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand moves upward while gripping the small orange 2x2 brick, lifting the brick partially away from the dark supporting surface."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand holds the small orange lego brick and moves it leftward above the dark table surface toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: release: Right hand opens its fingers to release the small orange lego brick, which falls and rests on the dark table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves downward with open fingers, approaching the small orange lego brick resting on the table."}, {"label": "subtasks", "start_step": 908, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes its fingers around the small orange lego brick on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes its fingers around the small orange lego brick on the dark table surface to adjust and establish a stable re-grasp."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift_transport: Right hand lifts the grasped small orange lego brick off the dark table surface and moves it downward to position it over the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1118, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate: Right hand adjusts the position of the small orange lego brick to align it with the studs on the stacked green and blue lego bricks, pressing it slightly to fit the two pieces together."}, {"label": "subtasks", "start_step": 1260, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach_grasp: Right hand moves toward the orange lego brick, adjusts finger positions to establish stable contact with the lego stack and aligns the index finger over the top of the orange lego brick."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: press: Right hand presses vertically down on the top surface of the orange lego brick resting on the underlying lego stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: return_home: Left hand rotates its wrist to face the palm forward, extends fingers from a slightly curled posture to a straight upward-pointing posture, and moves slightly upward to return to its initial raised home position. | Right hand: return_home: Right hand rotates its wrist to face the palm forward, extends fingers from a curled grasping posture to a straight upward-pointing posture, and moves upward away from the stacked blocks on the table to return to its initial raised home position."}], "episode_index": 17}
+{"source_uid": "27520d107344fc32", "num_frames": 1562, "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": 74, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and rotates slightly to face the building blocks on the table, keeping fingers slightly open and empty. | Right hand: reach: Right hand moves upward and rotates slightly to face the building blocks on the table, keeping fingers slightly open and empty."}, {"label": "valid", "start_step": 0, "end_step": 1526, "id": "Pid7_M2SzVXMHeSMZf0-Y"}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves downward and leftward toward the small green square block on the black surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green square block, with fingers closing around the block."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the small green block on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reorient: Right hand rotates the small green block about a quarter turn on the table surface, with the block staying in contact with the table."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the small green block on the table surface without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand reaches toward the small green block on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green block on the black table surface with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00009", "text": "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 block off the table and moves it rightward and downward toward the larger green block."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00010", "text": "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 block onto the larger green block on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its grip on the green block on the dark surface, with slight finger position adjustments."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reorient: Right hand slightly rotates and adjusts the pose of the green block on the dark surface, with the block staying on the surface."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: press: Right hand presses down on the green block on the dark surface to apply vertical pressure."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases its grip slightly, lifting fingers away from the top of the green block."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "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 re-grasps the green block on the dark surface, with fingers closing back onto the block."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: press: Right hand presses down on the green block again to secure it on the dark surface."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves rightward toward the blue square block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue square block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the blue square block on the dark table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the blue square block off the table and transports it leftward to the position above the green block."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00021", "text": "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 square block onto the green block and adjusts its position to align with the green block for assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the blue square block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue building block placed on the green building block, with fingers adjusting contact points to form a stable grip."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate_press: Right hand aligns the blue building block with the green building block below and presses it down to secure the assembly."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the assembled blue and green building blocks still without moving."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release_retreat: Right hand releases the blue building block and retreats backward away from the assembled blocks."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach_grasp: Right hand moves toward the orange square block on the table and closes its fingers to grasp the block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the orange square block resting on the table without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange square block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the orange square block off the table and transports it leftward to the position above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place_mate: Right hand places the orange square block onto the stacked green and blue blocks and adjusts it to mate with the lower block's studs."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the orange square block on top of the stacked green and blue blocks without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand holds the orange block and adjusts its position to align it with the blue block below for assembly."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00034", "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 block downward to secure it on top of the blue block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens its fingers and releases the orange block, moving slightly upward away from the block."}, {"label": "subtasks", "start_step": 1500, "end_step": 1561, "id": "reasoning-language-00036", "text": "Left hand: return_home: Left hand moves downward from the upper left area to the home position on the left side and stops. | Right hand: return_home: Right hand moves downward away from the block stack to the home position on the right side and stops."}, {"label": "home", "start_step": 1527, "end_step": 1561, "id": "2_o0dUxzHbfIMIszzOcnJ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and rotates slightly to face the building blocks on the table, keeping fingers slightly open and empty. | Right hand: reach: Right hand moves upward and rotates slightly to face the building blocks on the table, keeping fingers slightly open and empty."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves downward and leftward toward the small green square block on the black surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green square block, with fingers closing around the block."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the small green block on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reorient: Right hand rotates the small green block about a quarter turn on the table surface, with the block staying in contact with the table."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the small green block on the table surface without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand reaches toward the small green block on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green block on the black table surface with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00009", "text": "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 block off the table and moves it rightward and downward toward the larger green block."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00010", "text": "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 block onto the larger green block on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its grip on the green block on the dark surface, with slight finger position adjustments."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reorient: Right hand slightly rotates and adjusts the pose of the green block on the dark surface, with the block staying on the surface."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: press: Right hand presses down on the green block on the dark surface to apply vertical pressure."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases its grip slightly, lifting fingers away from the top of the green block."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "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 re-grasps the green block on the dark surface, with fingers closing back onto the block."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: press: Right hand presses down on the green block again to secure it on the dark surface."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves rightward toward the blue square block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue square block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the blue square block on the dark table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the blue square block off the table and transports it leftward to the position above the green block."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00021", "text": "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 square block onto the green block and adjusts its position to align with the green block for assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the blue square block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue building block placed on the green building block, with fingers adjusting contact points to form a stable grip."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate_press: Right hand aligns the blue building block with the green building block below and presses it down to secure the assembly."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the assembled blue and green building blocks still without moving."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release_retreat: Right hand releases the blue building block and retreats backward away from the assembled blocks."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach_grasp: Right hand moves toward the orange square block on the table and closes its fingers to grasp the block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the orange square block resting on the table without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange square block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the orange square block off the table and transports it leftward to the position above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place_mate: Right hand places the orange square block onto the stacked green and blue blocks and adjusts it to mate with the lower block's studs."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the orange square block on top of the stacked green and blue blocks without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand holds the orange block and adjusts its position to align it with the blue block below for assembly."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00034", "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 block downward to secure it on top of the blue block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens its fingers and releases the orange block, moving slightly upward away from the block."}, {"label": "subtasks", "start_step": 1500, "end_step": 1561, "id": "reasoning-language-00036", "text": "Left hand: return_home: Left hand moves downward from the upper left area to the home position on the left side and stops. | Right hand: return_home: Right hand moves downward away from the block stack to the home position on the right side and stops."}], "episode_index": 18}
+{"source_uid": "7d262ad480341519", "num_frames": 1174, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:move_upwards: Left hand moves upwards empty-handed, no contact with any operating objects. | Right hand: reach: Right hand moves downwards towards the small green block on the black table, empty-handed, without touching the block."}, {"label": "valid", "start_step": 0, "end_step": 1132, "id": "OOviT3vsSyindy2nFhDLf"}, {"label": "subtasks", "start_step": 52, "end_step": 104, "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 towards the small green block on the black table, empty-handed, without touching the block."}, {"label": "subtasks", "start_step": 105, "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 closes fingers to contact and grasp the small green block on the black table."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the small green block on the black surface."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the small green block off the black surface and moves it towards the larger green block."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00006", "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 larger green block placed on the black surface."}, {"label": "subtasks", "start_step": 248, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the small green block downward onto the larger green block."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the small green block, fingers gradually open and separate from the block."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: retreat: Right hand moves away from the assembled green blocks to the right side."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves towards the blue block placed on the black table."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the blue block on the black table."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the blue block resting on the black surface."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the blue block away from the black surface and moves it towards the stacked green blocks."}, {"label": "subtasks", "start_step": 615, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand lowers the blue block onto the top of the stacked green blocks."}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand adjusts the position of the blue block to align it with the connection points of the green blocks."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the blue block downwards to attach it firmly to the green blocks."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the orange block onto the black table, with fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "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 towards the orange block that is placed on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 table, with fingers closing to adjust and stabilize the grip."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block on the black tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the orange block off the tabletop and transports it to above the blue block."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "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 orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 908, "end_step": 1101, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the orange block downwards to mate it with the blue block securely."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the orange block and retreats from the assembled blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand moves slightly upwards at the left side of the frame, empty-handed. | Right hand: retreat: Right hand moves upwards and to the right, retreating from the operation position near the colorful building blocks, empty-handed."}, {"label": "home", "start_step": 1133, "end_step": 1173, "id": "ZLK6dQ0hlID_GbZIegDIX"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:move_upwards: Left hand moves upwards empty-handed, no contact with any operating objects. | Right hand: reach: Right hand moves downwards towards the small green block on the black table, empty-handed, without touching the block."}, {"label": "subtasks", "start_step": 52, "end_step": 104, "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 towards the small green block on the black table, empty-handed, without touching the block."}, {"label": "subtasks", "start_step": 105, "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 closes fingers to contact and grasp the small green block on the black table."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the small green block on the black surface."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the small green block off the black surface and moves it towards the larger green block."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00006", "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 larger green block placed on the black surface."}, {"label": "subtasks", "start_step": 248, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the small green block downward onto the larger green block."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the small green block, fingers gradually open and separate from the block."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: retreat: Right hand moves away from the assembled green blocks to the right side."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves towards the blue block placed on the black table."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the blue block on the black table."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the blue block resting on the black surface."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the blue block away from the black surface and moves it towards the stacked green blocks."}, {"label": "subtasks", "start_step": 615, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand lowers the blue block onto the top of the stacked green blocks."}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand adjusts the position of the blue block to align it with the connection points of the green blocks."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the blue block downwards to attach it firmly to the green blocks."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the orange block onto the black table, with fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "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 towards the orange block that is placed on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 table, with fingers closing to adjust and stabilize the grip."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block on the black tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the orange block off the tabletop and transports it to above the blue block."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "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 orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 908, "end_step": 1101, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the orange block downwards to mate it with the blue block securely."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the orange block and retreats from the assembled blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand moves slightly upwards at the left side of the frame, empty-handed. | Right hand: retreat: Right hand moves upwards and to the right, retreating from the operation position near the colorful building blocks, empty-handed."}], "episode_index": 19}
+{"source_uid": "8d10368d0acd926a", "num_frames": 1767, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand remains empty at its upper right home position without any observable movement."}, {"label": "valid", "start_step": 0, "end_step": 1721, "id": "w5bEXh_a2xTN0z6_IGUGP"}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves downward toward the small green 2x2 brick on the black table surface, with fingers held in a slightly extended open posture."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the small green 2x2 brick, closes fingers around the brick and makes small wrist and finger adjustments to establish grip, while the brick remains resting on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand extends fingers slightly to open the grip, releasing the small green 2x2 brick resting on the dark work surface."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves with empty open fingers toward the small green 2x2 brick on the dark work surface."}, {"label": "subtasks", "start_step": 240, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the small green 2x2 brick, adjusting finger positions and grip to form a stable hold, slightly lifting the brick during adjustment."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small green 2x2 brick steadily with no observable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves toward the upright small green 2x2 brick on the dark gray table surface, adjusting finger positions to approach the brick without making stable contact."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls fingers to contact the upright green brick, fails to establish a stable grasp, and knocks the brick over to lie flat on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves over the toppled flat green brick, adjusting its position and finger posture to re-align with the target brick."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand stays empty beside the toppled green brick on the table, with no visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 510, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls fingers around the flat green brick, making small continuous adjustments to finger contact points and grip tension to form a stable grasp, while the brick remains supported by the table."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: lift: Right hand moves upward with the stably grasped green brick, lifting the brick completely away from the table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: transport: Right hand holds the small light green brick and transports it downward toward the larger light green brick placed on the dark flat surface."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: place: Right hand lowers the small light green brick to place it on the upper surface of the larger light green brick, until the small brick is fully supported by the larger one."}, {"label": "subtasks", "start_step": 705, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small light green brick on top of the larger light green brick without any visible movement or finger adjustment."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers gradually to release the grip on the small light green brick, separating from the brick surface."}, {"label": "subtasks", "start_step": 825, "end_step": 907, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand remains empty in the area adjacent to the stacked green bricks without visible movement."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach_grasp: Right hand moves a short distance toward the small light green brick and closes its fingers to establish a stable grasp on the brick."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: press: Right hand applies downward pressure on the small light green brick to press it against the larger green brick below."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small light green brick on the larger green brick without visible movement of the hand, wrist or fingers."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers while moving upward to release the small light green brick, leaving the brick resting on the larger green brick."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves upward with an empty hand, retreating away from the stacked green bricks."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves rightward toward the blue 2x2 lego brick on the dark work surface, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls its fingers inward to close around the blue 2x2 lego brick, forming a stable grip on the brick while the brick remains on the work surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1244, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: mate: Right hand moves the grasped blue 2x2 lego brick leftward along the dark work surface to align with the adjacent green lego brick, presses down slightly to attach the two bricks together."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the attached blue lego brick, breaking contact between the hand and the brick surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves rightward away from the assembled lego bricks, with fingers held in a slightly spread position."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves leftward toward the orange 2x2 lego brick on the dark table surface, with fingers held slightly open as it approaches the brick."}, {"label": "subtasks", "start_step": 1312, "end_step": 1387, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls its fingers to close around the orange 2x2 lego brick, making small finger adjustments to form a stable grasp while the brick remains resting on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped orange 2x2 lego brick off the table surface, moving leftward to carry the brick toward the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: place: Right hand lowers the orange 2x2 lego brick onto the top surface of the stacked green and blue lego bricks until the orange brick is supported by the stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to align the orange 2x2 lego brick with the connection points on the stacked lego bricks, fitting the bricks into an assembled position."}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled orange lego brick in place on top of the stacked green and blue lego bricks without observable movement."}, {"label": "subtasks", "start_step": 1620, "end_step": 1694, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand extends its fingers and opens them to release the stacked lego blocks resting on the dark table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves upward with empty hand, retreating away from the released lego stack on the table."}, {"label": "home", "start_step": 1722, "end_step": 1766, "id": "QeqxOFFFETogdxFhtWnjb"}, {"label": "subtasks", "start_step": 1725, "end_step": 1766, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand remains empty at its upper right home position without any observable movement."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves downward toward the small green 2x2 brick on the black table surface, with fingers held in a slightly extended open posture."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the small green 2x2 brick, closes fingers around the brick and makes small wrist and finger adjustments to establish grip, while the brick remains resting on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand extends fingers slightly to open the grip, releasing the small green 2x2 brick resting on the dark work surface."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves with empty open fingers toward the small green 2x2 brick on the dark work surface."}, {"label": "subtasks", "start_step": 240, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the small green 2x2 brick, adjusting finger positions and grip to form a stable hold, slightly lifting the brick during adjustment."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small green 2x2 brick steadily with no observable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves toward the upright small green 2x2 brick on the dark gray table surface, adjusting finger positions to approach the brick without making stable contact."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls fingers to contact the upright green brick, fails to establish a stable grasp, and knocks the brick over to lie flat on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves over the toppled flat green brick, adjusting its position and finger posture to re-align with the target brick."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand stays empty beside the toppled green brick on the table, with no visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 510, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls fingers around the flat green brick, making small continuous adjustments to finger contact points and grip tension to form a stable grasp, while the brick remains supported by the table."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: lift: Right hand moves upward with the stably grasped green brick, lifting the brick completely away from the table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: transport: Right hand holds the small light green brick and transports it downward toward the larger light green brick placed on the dark flat surface."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: place: Right hand lowers the small light green brick to place it on the upper surface of the larger light green brick, until the small brick is fully supported by the larger one."}, {"label": "subtasks", "start_step": 705, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small light green brick on top of the larger light green brick without any visible movement or finger adjustment."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers gradually to release the grip on the small light green brick, separating from the brick surface."}, {"label": "subtasks", "start_step": 825, "end_step": 907, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand remains empty in the area adjacent to the stacked green bricks without visible movement."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach_grasp: Right hand moves a short distance toward the small light green brick and closes its fingers to establish a stable grasp on the brick."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: press: Right hand applies downward pressure on the small light green brick to press it against the larger green brick below."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small light green brick on the larger green brick without visible movement of the hand, wrist or fingers."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers while moving upward to release the small light green brick, leaving the brick resting on the larger green brick."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves upward with an empty hand, retreating away from the stacked green bricks."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves rightward toward the blue 2x2 lego brick on the dark work surface, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls its fingers inward to close around the blue 2x2 lego brick, forming a stable grip on the brick while the brick remains on the work surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1244, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: mate: Right hand moves the grasped blue 2x2 lego brick leftward along the dark work surface to align with the adjacent green lego brick, presses down slightly to attach the two bricks together."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the attached blue lego brick, breaking contact between the hand and the brick surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves rightward away from the assembled lego bricks, with fingers held in a slightly spread position."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves leftward toward the orange 2x2 lego brick on the dark table surface, with fingers held slightly open as it approaches the brick."}, {"label": "subtasks", "start_step": 1312, "end_step": 1387, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls its fingers to close around the orange 2x2 lego brick, making small finger adjustments to form a stable grasp while the brick remains resting on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped orange 2x2 lego brick off the table surface, moving leftward to carry the brick toward the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: place: Right hand lowers the orange 2x2 lego brick onto the top surface of the stacked green and blue lego bricks until the orange brick is supported by the stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to align the orange 2x2 lego brick with the connection points on the stacked lego bricks, fitting the bricks into an assembled position."}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled orange lego brick in place on top of the stacked green and blue lego bricks without observable movement."}, {"label": "subtasks", "start_step": 1620, "end_step": 1694, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand extends its fingers and opens them to release the stacked lego blocks resting on the dark table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves upward with empty hand, retreating away from the released lego stack on the table."}, {"label": "subtasks", "start_step": 1725, "end_step": 1766, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement."}], "episode_index": 20}
+{"source_uid": "1c6f60f8b1b373e9", "num_frames": 1461, "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": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly spreads its fingers to adjust posture while positioned in the upper left area, remaining empty with no contact to any objects. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture by slightly curving and spreading fingers while positioned in the upper right initial area, remaining empty without moving toward the Lego blocks."}, {"label": "valid", "start_step": 0, "end_step": 1411, "id": "H1QbeFI4-reHatPCashC6"}, {"label": "subtasks", "start_step": 45, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture by slightly curving and spreading fingers while positioned in the upper right initial area, remaining empty without moving toward the Lego blocks."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green Lego block on the black table surface, maintaining a curved pre-grasp finger posture as it approaches the block without making contact."}, {"label": "subtasks", "start_step": 105, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the small 2x2 green Lego block, making minor adjustments to finger contact points to form a stable grasp while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped small 2x2 green Lego block upward, fully separating the block from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate: Right hand holds the small light green Lego block, moves it downward to align it with the larger light green Lego block on the dark work surface to enter the assembly position."}, {"label": "subtasks", "start_step": 240, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press: Right hand presses down vertically on the aligned small light green Lego block to secure and embed it onto the larger light green Lego block."}, {"label": "subtasks", "start_step": 338, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: release: Right hand opens its fingers gradually to release the embedded small light green Lego block, moving fingers away from the grasping position."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains stationary near the assembled Lego blocks without grasping any object, with no observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves from above the green lego block toward the blue lego block on the dark table surface, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 472, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp_lift: Right hand closes fingers around the blue lego block on the dark table surface, adjusts grip to secure the block, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: transport_release: Right hand holds the blue lego block, moves it a short distance across the table area, and opens fingers to release the block as it falls toward the surface."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains empty near the green and orange lego blocks without moving."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach_reorient: Right hand moves left and downward from above the green block toward the blue block on the dark table, contacts the block and rotates it roughly 180 degrees to turn its studded top face upward while the block stays in nearly the same position."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand makes slight positional adjustments above the flipped blue block, repositioning fingers to prepare for gripping the block."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the blue block, making small adjustments to finger contact points to form a stable grip on the block while it rests on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the blue block steadily on the table surface, with no observable movement of the hand, fingers, or the gripped block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand maintains grip on the blue block, lifts it completely off the table surface, and moves it rightward to a position next to the green block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: place_release: Right hand lowers the blue block to rest on the table at the new position, then opens fingers to release the block and remains adjacent to the placed block."}, {"label": "subtasks", "start_step": 855, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the blue building block placed on the dark gray table with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 908, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the blue building block to form a stable grasp, with the block resting on the dark gray table surface."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift: Right hand raises the grasped blue building block upward to lift it completely off the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: transport: Right hand moves while holding the blue building block, carrying it toward the adjacent green building block on the table."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the held blue building block to align its connection points with the top connection points of the green building block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press_release: Right hand exerts downward pressure on the aligned blue building block to attach it to the green block, and opens fingers to release the connected blocks."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the small orange block on the dark table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the orange block resting on the table, making slight finger adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange block off the table surface and moves it horizontally to a position above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1268, "end_step": 1341, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate_release: Right hand aligns and fits the orange block onto the top of the stacked green and blue blocks, with fingers opening to release the connected block."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand extends the index finger and moves toward the top surface of the assembled orange block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press_retreat: Right index finger presses downward on the top surface of the orange block to secure the assembly, slightly retreating away from the block surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: return_home: Left hand moves toward the body-side home position and rotates about a quarter turn, adjusting its posture from fingers pointing rightward to fingers pointing upward. | Right hand: return_home: Right hand moves away from the stacked blocks toward the body-side home position and rotates about a quarter turn, adjusting its posture from a block-facing open posture to fingers pointing upward."}, {"label": "home", "start_step": 1412, "end_step": 1460, "id": "GjJVRWL0J9QffXVtjYlrj"}, {"label": "subtasks", "start_step": 1448, "end_step": 1460, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without any visible movement. | Right hand: idle: Right hand remains empty and stationary at the right home position without any visible movement."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly spreads its fingers to adjust posture while positioned in the upper left area, remaining empty with no contact to any objects. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture by slightly curving and spreading fingers while positioned in the upper right initial area, remaining empty without moving toward the Lego blocks."}, {"label": "subtasks", "start_step": 45, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture by slightly curving and spreading fingers while positioned in the upper right initial area, remaining empty without moving toward the Lego blocks."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green Lego block on the black table surface, maintaining a curved pre-grasp finger posture as it approaches the block without making contact."}, {"label": "subtasks", "start_step": 105, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the small 2x2 green Lego block, making minor adjustments to finger contact points to form a stable grasp while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped small 2x2 green Lego block upward, fully separating the block from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate: Right hand holds the small light green Lego block, moves it downward to align it with the larger light green Lego block on the dark work surface to enter the assembly position."}, {"label": "subtasks", "start_step": 240, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press: Right hand presses down vertically on the aligned small light green Lego block to secure and embed it onto the larger light green Lego block."}, {"label": "subtasks", "start_step": 338, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: release: Right hand opens its fingers gradually to release the embedded small light green Lego block, moving fingers away from the grasping position."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains stationary near the assembled Lego blocks without grasping any object, with no observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves from above the green lego block toward the blue lego block on the dark table surface, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 472, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp_lift: Right hand closes fingers around the blue lego block on the dark table surface, adjusts grip to secure the block, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: transport_release: Right hand holds the blue lego block, moves it a short distance across the table area, and opens fingers to release the block as it falls toward the surface."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains empty near the green and orange lego blocks without moving."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach_reorient: Right hand moves left and downward from above the green block toward the blue block on the dark table, contacts the block and rotates it roughly 180 degrees to turn its studded top face upward while the block stays in nearly the same position."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand makes slight positional adjustments above the flipped blue block, repositioning fingers to prepare for gripping the block."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the blue block, making small adjustments to finger contact points to form a stable grip on the block while it rests on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the blue block steadily on the table surface, with no observable movement of the hand, fingers, or the gripped block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand maintains grip on the blue block, lifts it completely off the table surface, and moves it rightward to a position next to the green block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: place_release: Right hand lowers the blue block to rest on the table at the new position, then opens fingers to release the block and remains adjacent to the placed block."}, {"label": "subtasks", "start_step": 855, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the blue building block placed on the dark gray table with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 908, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the blue building block to form a stable grasp, with the block resting on the dark gray table surface."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift: Right hand raises the grasped blue building block upward to lift it completely off the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: transport: Right hand moves while holding the blue building block, carrying it toward the adjacent green building block on the table."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the held blue building block to align its connection points with the top connection points of the green building block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press_release: Right hand exerts downward pressure on the aligned blue building block to attach it to the green block, and opens fingers to release the connected blocks."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the small orange block on the dark table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the orange block resting on the table, making slight finger adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange block off the table surface and moves it horizontally to a position above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1268, "end_step": 1341, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate_release: Right hand aligns and fits the orange block onto the top of the stacked green and blue blocks, with fingers opening to release the connected block."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand extends the index finger and moves toward the top surface of the assembled orange block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press_retreat: Right index finger presses downward on the top surface of the orange block to secure the assembly, slightly retreating away from the block surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: return_home: Left hand moves toward the body-side home position and rotates about a quarter turn, adjusting its posture from fingers pointing rightward to fingers pointing upward. | Right hand: return_home: Right hand moves away from the stacked blocks toward the body-side home position and rotates about a quarter turn, adjusting its posture from a block-facing open posture to fingers pointing upward."}, {"label": "subtasks", "start_step": 1448, "end_step": 1460, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without any visible movement. | Right hand: idle: Right hand remains empty and stationary at the right home position without any visible movement."}], "episode_index": 21}
+{"source_uid": "c514522dc977a7d4", "num_frames": 1101, "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": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves forward and downward toward the building blocks placed on the black table."}, {"label": "valid", "start_step": 0, "end_step": 1060, "id": "pPLdzg1mhCGktlNvT0WTH"}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves towards the small green building block on the black surface."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small green building block, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block off the black surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block up from the black surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the small green building block toward the larger green building block."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the small green building block onto the larger green building block."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the small green building block on the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block completely off the black table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the small green building block to the position above the larger green building block."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand lowers the small green building block onto the top surface of the larger green building block."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens its fingers to release the small green building block."}, {"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the small green building block placed on the black surface by opening its fingers."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the blue building block on the black surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue building block on the black table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 465, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the blue building block on the black table without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the blue building block from the table surface and transports it above the green building block."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the blue building block onto the top surface of the green building block."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the blue building block down to mate with the green building block."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the blue building block with fingers opening."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the blue building block placed on the gray work surface."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the orange building block on the gray work surface."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the orange building block on the gray work surface."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the orange building block on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the orange building block from the tabletop and transports it toward the stacked blue and green building blocks."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the orange building block onto the top of the stacked blue building block."}, {"label": "subtasks", "start_step": 848, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the orange building block down onto the blue building block to complete the assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the orange building block on top of the stacked blocks."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand moves backward away from the building blocks."}, {"label": "home", "start_step": 1061, "end_step": 1100, "id": "lXt4IdTGs8qvxbZtTWnrX"}, {"label": "subtasks", "start_step": 1065, "end_step": 1100, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves forward and downward toward the building blocks placed on the black table."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves towards the small green building block on the black surface."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small green building block, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block off the black surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block up from the black surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the small green building block toward the larger green building block."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the small green building block onto the larger green building block."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the small green building block on the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block completely off the black table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the small green building block to the position above the larger green building block."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand lowers the small green building block onto the top surface of the larger green building block."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens its fingers to release the small green building block."}, {"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the small green building block placed on the black surface by opening its fingers."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the blue building block on the black surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue building block on the black table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 465, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the blue building block on the black table without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the blue building block from the table surface and transports it above the green building block."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the blue building block onto the top surface of the green building block."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the blue building block down to mate with the green building block."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the blue building block with fingers opening."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the blue building block placed on the gray work surface."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the orange building block on the gray work surface."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the orange building block on the gray work surface."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the orange building block on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the orange building block from the tabletop and transports it toward the stacked blue and green building blocks."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the orange building block onto the top of the stacked blue building block."}, {"label": "subtasks", "start_step": 848, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the orange building block down onto the blue building block to complete the assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the orange building block on top of the stacked blocks."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand moves backward away from the building blocks."}, {"label": "subtasks", "start_step": 1065, "end_step": 1100, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving."}], "episode_index": 22}
+{"source_uid": "0e7d3ab963ce5806", "num_frames": 1590, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves upward from its initial upright position with fingers spreading open, rising to the upper left area while remaining empty. | Right hand: other:adjust_posture: Right hand moves upward from its initial upright position, adjusting wrist and finger posture as it moves to the upper right area, remaining empty."}, {"label": "valid", "start_step": 0, "end_step": 1545, "id": "oycya0kmDatWjS9wWL3AG"}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: other:adjust_posture: Left hand moves upward from its initial upright position with fingers spreading open, rising to the upper left area while remaining empty. | Right hand: reach: Right hand moves downward from the upper right area toward the small green block on the black table surface, fingers curving slightly as it approaches the target."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: other:adjust_posture: Left hand makes slight downward posture adjustments at the upper left area, keeping fingers spread and not touching any blocks on the table. | Right hand: reach: Right hand moves downward from the upper right area toward the small green block on the black table surface, fingers curving slightly as it approaches the target."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: other:adjust_object_position: Right hand makes contact with the small green Lego brick on the dark table surface, adjusting its position by sliding the brick slightly across the table with small finger and wrist movements."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand, now empty, moves slightly upward and away from the small green Lego brick after releasing contact with it."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves downward through the air toward the small green Lego brick, approaching the brick without making contact."}, {"label": "subtasks", "start_step": 248, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: other:adjust_object_position: Right hand makes contact with the small green Lego brick again, adjusting its position on the dark table surface via small finger and wrist movements."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift_transport: Right hand holds the small green lego brick, lifts it from the table surface and moves it downward to make contact with the larger flat green lego brick."}, {"label": "subtasks", "start_step": 368, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: mate: Right hand adjusts the position of the small green lego brick on the larger flat green lego brick to align their interlocking points, with fingers making fine positional adjustments to the brick."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand presses vertically down on the aligned small green lego brick to fasten it securely to the larger flat green lego brick."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: release: Right hand opens its fingers to release the fastened small green lego brick, breaking physical contact with the brick."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward away from the assembled green lego bricks as an empty hand."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves right across the dark table surface toward the small blue lego brick, with fingers held slightly open as it approaches the brick."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: grasp: Right hand adjusts the positions of its thumb and index finger around the small blue lego brick, closing fingers gradually to form a stable grip on the brick while the brick remains on the table."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift: Right hand holds the small blue lego brick and lifts it upward, raising the brick completely off the dark table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: transport: Right hand carries the lifted small blue lego brick, moving it downward and to the left across the table area."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: transport: Right hand holds the small blue lego brick and moves leftward toward the green lego brick."}, {"label": "subtasks", "start_step": 772, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: place: Right hand lowers the grasped small blue lego brick onto the table surface adjacent to the green lego brick until the brick is fully supported by the table."}, {"label": "subtasks", "start_step": 825, "end_step": 944, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: mate_release: Right hand adjusts the grasped blue lego brick to align tightly against the adjacent green lego brick, opening fingers to release the brick."}, {"label": "subtasks", "start_step": 945, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand uses fingers to press the top and side surfaces of the blue lego brick to secure its position next to the green lego brick on the table."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward and rightward away from the lego bricks, retreating from the operation area with an empty hand."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves upward and right toward the small orange lego brick on the dark gray surface, remaining empty with fingers slightly extended."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: grasp: Right hand closes fingers around the small orange lego brick, making slight positional adjustments of the fingers and wrist to form a stable grip while the brick stays on the dark gray surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift_transport: Right hand lifts the small orange lego brick completely off the dark gray surface and moves it downward and left toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: place: Right hand holds the small orange lego brick and moves it downward to place it on top of the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: hold: Right hand holds the stably placed small orange lego brick on the lego stack without obvious movement or adjustment."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: release: Right hand opens its fingers gradually to release the grasp on the orange lego brick, separating the fingers from the brick surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand positions its finger on the top surface of the orange lego brick and presses vertically downward to secure the brick to the stack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward and away from the lego stack as an empty hand after the pressing action."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward and backward with an empty hand to reach the home position and stops. | Right hand: return_home: Right hand moves upward and backward with an empty hand to reach the home position and stops."}, {"label": "home", "start_step": 1546, "end_step": 1589, "id": "R3hX75Xja5kZmWmH7cQ9z"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves upward from its initial upright position with fingers spreading open, rising to the upper left area while remaining empty. | Right hand: other:adjust_posture: Right hand moves upward from its initial upright position, adjusting wrist and finger posture as it moves to the upper right area, remaining empty."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: other:adjust_posture: Left hand moves upward from its initial upright position with fingers spreading open, rising to the upper left area while remaining empty. | Right hand: reach: Right hand moves downward from the upper right area toward the small green block on the black table surface, fingers curving slightly as it approaches the target."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: other:adjust_posture: Left hand makes slight downward posture adjustments at the upper left area, keeping fingers spread and not touching any blocks on the table. | Right hand: reach: Right hand moves downward from the upper right area toward the small green block on the black table surface, fingers curving slightly as it approaches the target."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: other:adjust_object_position: Right hand makes contact with the small green Lego brick on the dark table surface, adjusting its position by sliding the brick slightly across the table with small finger and wrist movements."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand, now empty, moves slightly upward and away from the small green Lego brick after releasing contact with it."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves downward through the air toward the small green Lego brick, approaching the brick without making contact."}, {"label": "subtasks", "start_step": 248, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: other:adjust_object_position: Right hand makes contact with the small green Lego brick again, adjusting its position on the dark table surface via small finger and wrist movements."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift_transport: Right hand holds the small green lego brick, lifts it from the table surface and moves it downward to make contact with the larger flat green lego brick."}, {"label": "subtasks", "start_step": 368, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: mate: Right hand adjusts the position of the small green lego brick on the larger flat green lego brick to align their interlocking points, with fingers making fine positional adjustments to the brick."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand presses vertically down on the aligned small green lego brick to fasten it securely to the larger flat green lego brick."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: release: Right hand opens its fingers to release the fastened small green lego brick, breaking physical contact with the brick."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward away from the assembled green lego bricks as an empty hand."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves right across the dark table surface toward the small blue lego brick, with fingers held slightly open as it approaches the brick."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: grasp: Right hand adjusts the positions of its thumb and index finger around the small blue lego brick, closing fingers gradually to form a stable grip on the brick while the brick remains on the table."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift: Right hand holds the small blue lego brick and lifts it upward, raising the brick completely off the dark table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: transport: Right hand carries the lifted small blue lego brick, moving it downward and to the left across the table area."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: transport: Right hand holds the small blue lego brick and moves leftward toward the green lego brick."}, {"label": "subtasks", "start_step": 772, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: place: Right hand lowers the grasped small blue lego brick onto the table surface adjacent to the green lego brick until the brick is fully supported by the table."}, {"label": "subtasks", "start_step": 825, "end_step": 944, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: mate_release: Right hand adjusts the grasped blue lego brick to align tightly against the adjacent green lego brick, opening fingers to release the brick."}, {"label": "subtasks", "start_step": 945, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand uses fingers to press the top and side surfaces of the blue lego brick to secure its position next to the green lego brick on the table."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward and rightward away from the lego bricks, retreating from the operation area with an empty hand."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves upward and right toward the small orange lego brick on the dark gray surface, remaining empty with fingers slightly extended."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: grasp: Right hand closes fingers around the small orange lego brick, making slight positional adjustments of the fingers and wrist to form a stable grip while the brick stays on the dark gray surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift_transport: Right hand lifts the small orange lego brick completely off the dark gray surface and moves it downward and left toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: place: Right hand holds the small orange lego brick and moves it downward to place it on top of the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: hold: Right hand holds the stably placed small orange lego brick on the lego stack without obvious movement or adjustment."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: release: Right hand opens its fingers gradually to release the grasp on the orange lego brick, separating the fingers from the brick surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand positions its finger on the top surface of the orange lego brick and presses vertically downward to secure the brick to the stack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward and away from the lego stack as an empty hand after the pressing action."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward and backward with an empty hand to reach the home position and stops. | Right hand: return_home: Right hand moves upward and backward with an empty hand to reach the home position and stops."}], "episode_index": 23}
+{"source_uid": "1a830be59ea0da02", "num_frames": 1642, "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": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly opens its fingers while staying raised at the upper left area of the table, with no obvious large position change. | Right hand: other:adjust_hand_posture: Right hand slightly opens its fingers while staying raised at the upper right area of the table, with no obvious large position change."}, {"label": "valid", "start_step": 0, "end_step": 1595, "id": "BDNYXOGIPlnK6O3JKrF99"}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: idle: Right hand remains empty and raised at the upper right of the table without obvious movement or posture change."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach: Right hand moves downward toward the colorful lego blocks on the table with an empty hand, approaching the blocks without forming a closed grasp."}, {"label": "subtasks", "start_step": 120, "end_step": 374, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand closes fingers around the small light green Lego brick on the dark work surface, making fine adjustments to finger contact points and wrist angle, rotating the brick slightly to establish a stable grip."}, {"label": "subtasks", "start_step": 375, "end_step": 547, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand holds the small light green Lego brick, adjusts its position and aligns it to the connection studs on the larger stacked light green Lego brick below."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses down on the top surface of the small light green Lego brick to fasten it to the larger light green Lego brick underneath."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: retreat: Right hand moves upward and backward away from the stacked light green Lego bricks while empty."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach_grasp: Right hand moves from the area near the stacked light green Lego bricks toward the blue Lego brick, closes fingers around the blue Lego brick, and makes continuous small adjustments of fingers and wrist to form a stable grip on the brick resting on the dark surface."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift: Right hand moves upward with the grasped blue Lego brick, lifting the brick completely away from the dark supporting surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: transport: Right hand carries the lifted blue Lego brick through the air, moving the brick toward the stacked light green Lego bricks."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand positions the blue Lego brick against the top of the stacked light green Lego bricks, makes small wrist and finger adjustments to align the bricks for assembly, and attaches the blue brick to the green brick stack."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand adjusts the positions of its fingers around the blue Lego brick on the dark work surface to form a stable, secure grip on the brick."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift: Right hand holds the blue Lego brick firmly and lifts it upward until the brick is completely lifted off the dark work surface."}, {"label": "subtasks", "start_step": 885, "end_step": 951, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: transport: Right hand carries the lifted blue Lego brick, moving it horizontally toward the stacked light green Lego brick while adjusting its position to align with the light green brick's top."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: place: Right hand lowers the blue Lego brick vertically until the brick rests fully on the top surface of the light green Lego brick, supported by the light green structure."}, {"label": "subtasks", "start_step": 982, "end_step": 1101, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses vertically down on the top of the blue Lego brick, making small finger adjustments to apply steady pressure to secure the connection between the two bricks."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release: Right hand opens its fingers gradually to release its grip on the blue Lego brick, with fingers beginning to move away from the brick."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach: Right hand moves toward the orange Lego brick on the black work surface with fingers slightly spread, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand makes contact with the orange Lego brick, fingers close around the brick and adjust slightly to form a stable grip while the brick remains resting on the work surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift_transport: Right hand lifts the orange Lego brick completely off the work surface and moves the brick toward the stacked green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand aligns the orange Lego brick with the top surface of the stacked green Lego brick, presses down slightly to fit the two bricks together."}, {"label": "subtasks", "start_step": 1320, "end_step": 1424, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand makes small finger and wrist adjustments to stabilize its grip on the orange Lego brick."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: place: Right hand moves the orange Lego brick downward to place it on top of the stacked blue Lego bricks, until the brick is supported by the blue stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1551, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses down on the top surface of the orange Lego brick to secure it to the underlying blue Lego stack."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}, {"label": "home", "start_step": 1596, "end_step": 1641, "id": "m-FD5ZfyO8RoUtB9OrmXN"}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00027", "text": "Left hand: return_home: Left hand moves upward and backward toward the left home position, rotates the wrist slightly to point fingers upward, and stops stationary at the home position. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly opens its fingers while staying raised at the upper left area of the table, with no obvious large position change. | Right hand: other:adjust_hand_posture: Right hand slightly opens its fingers while staying raised at the upper right area of the table, with no obvious large position change."}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: idle: Right hand remains empty and raised at the upper right of the table without obvious movement or posture change."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach: Right hand moves downward toward the colorful lego blocks on the table with an empty hand, approaching the blocks without forming a closed grasp."}, {"label": "subtasks", "start_step": 120, "end_step": 374, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand closes fingers around the small light green Lego brick on the dark work surface, making fine adjustments to finger contact points and wrist angle, rotating the brick slightly to establish a stable grip."}, {"label": "subtasks", "start_step": 375, "end_step": 547, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand holds the small light green Lego brick, adjusts its position and aligns it to the connection studs on the larger stacked light green Lego brick below."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses down on the top surface of the small light green Lego brick to fasten it to the larger light green Lego brick underneath."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: retreat: Right hand moves upward and backward away from the stacked light green Lego bricks while empty."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach_grasp: Right hand moves from the area near the stacked light green Lego bricks toward the blue Lego brick, closes fingers around the blue Lego brick, and makes continuous small adjustments of fingers and wrist to form a stable grip on the brick resting on the dark surface."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift: Right hand moves upward with the grasped blue Lego brick, lifting the brick completely away from the dark supporting surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: transport: Right hand carries the lifted blue Lego brick through the air, moving the brick toward the stacked light green Lego bricks."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand positions the blue Lego brick against the top of the stacked light green Lego bricks, makes small wrist and finger adjustments to align the bricks for assembly, and attaches the blue brick to the green brick stack."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand adjusts the positions of its fingers around the blue Lego brick on the dark work surface to form a stable, secure grip on the brick."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift: Right hand holds the blue Lego brick firmly and lifts it upward until the brick is completely lifted off the dark work surface."}, {"label": "subtasks", "start_step": 885, "end_step": 951, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: transport: Right hand carries the lifted blue Lego brick, moving it horizontally toward the stacked light green Lego brick while adjusting its position to align with the light green brick's top."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: place: Right hand lowers the blue Lego brick vertically until the brick rests fully on the top surface of the light green Lego brick, supported by the light green structure."}, {"label": "subtasks", "start_step": 982, "end_step": 1101, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses vertically down on the top of the blue Lego brick, making small finger adjustments to apply steady pressure to secure the connection between the two bricks."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release: Right hand opens its fingers gradually to release its grip on the blue Lego brick, with fingers beginning to move away from the brick."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach: Right hand moves toward the orange Lego brick on the black work surface with fingers slightly spread, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand makes contact with the orange Lego brick, fingers close around the brick and adjust slightly to form a stable grip while the brick remains resting on the work surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift_transport: Right hand lifts the orange Lego brick completely off the work surface and moves the brick toward the stacked green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand aligns the orange Lego brick with the top surface of the stacked green Lego brick, presses down slightly to fit the two bricks together."}, {"label": "subtasks", "start_step": 1320, "end_step": 1424, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand makes small finger and wrist adjustments to stabilize its grip on the orange Lego brick."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: place: Right hand moves the orange Lego brick downward to place it on top of the stacked blue Lego bricks, until the brick is supported by the blue stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1551, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses down on the top surface of the orange Lego brick to secure it to the underlying blue Lego stack."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00027", "text": "Left hand: return_home: Left hand moves upward and backward toward the left home position, rotates the wrist slightly to point fingers upward, and stops stationary at the home position. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}], "episode_index": 24}
+{"source_uid": "843d3ea6d9275624", "num_frames": 1285, "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": 74, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward, adjusts its finger postures, and approaches the building blocks above the black table. | Right hand: reach: Right hand moves upward, adjusts its finger postures, and approaches the blue building block above the black table."}, {"label": "valid", "start_step": 0, "end_step": 1237, "id": "UphKt82U_qPrggbP4JiqQ"}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small green block on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the small green block on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00004", "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 upward away from the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the small green block and transports it above the other green block placed on the table."}, {"label": "subtasks", "start_step": 278, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the small green block with the green block on the table to mate them together."}, {"label": "subtasks", "start_step": 338, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the small green block down onto the green block on the table to secure the assembly."}, {"label": "subtasks", "start_step": 382, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the small green block, separating from the block."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward slightly away from the assembled green blocks."}, {"label": "subtasks", "start_step": 480, "end_step": 614, "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 its fingers to form a stable grasp on the blue block on the table."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00011", "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 upwards off the table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00012", "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 horizontally to the position above the green block."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and places the blue block onto the green block for assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the grasped blue block."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the blue block downwards to tighten the assembly with the green block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the assembled blocks to the right side."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed on the table."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block off the table and transports it above the green-blue combined block."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top of the green-blue block to fit them together."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "id": "reasoning-language-00021", "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 green-blue block to secure the assembly."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the orange block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the assembled blocks without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: return_home: Left hand moves backward to its initial position on the left side while remaining empty. | Right hand: return_home: Right hand moves backward to its initial position on the right side while remaining empty."}, {"label": "home", "start_step": 1238, "end_step": 1284, "id": "u5yqm61Z7vl3N19MjkNXp"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward, adjusts its finger postures, and approaches the building blocks above the black table. | Right hand: reach: Right hand moves upward, adjusts its finger postures, and approaches the blue building block above the black table."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small green block on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the small green block on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00004", "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 upward away from the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the small green block and transports it above the other green block placed on the table."}, {"label": "subtasks", "start_step": 278, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the small green block with the green block on the table to mate them together."}, {"label": "subtasks", "start_step": 338, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the small green block down onto the green block on the table to secure the assembly."}, {"label": "subtasks", "start_step": 382, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the small green block, separating from the block."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward slightly away from the assembled green blocks."}, {"label": "subtasks", "start_step": 480, "end_step": 614, "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 its fingers to form a stable grasp on the blue block on the table."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00011", "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 upwards off the table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00012", "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 horizontally to the position above the green block."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and places the blue block onto the green block for assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the grasped blue block."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the blue block downwards to tighten the assembly with the green block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the assembled blocks to the right side."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed on the table."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block off the table and transports it above the green-blue combined block."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top of the green-blue block to fit them together."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "id": "reasoning-language-00021", "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 green-blue block to secure the assembly."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the orange block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the assembled blocks without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: return_home: Left hand moves backward to its initial position on the left side while remaining empty. | Right hand: return_home: Right hand moves backward to its initial position on the right side while remaining empty."}], "episode_index": 25}
+{"source_uid": "216477cf5f451482", "num_frames": 1116, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: idle: Right hand remains empty in the upper right raised position without active movement."}, {"label": "valid", "start_step": 0, "end_step": 1070, "id": "x8jdGjXV-1zeIVdLInPLg"}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves downward with extended fingers, approaching the small building blocks on the dark table surface without making contact with the blocks."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand makes contact with the small green and orange building blocks on the table, fingers closing and adjusting slightly to establish a grip on the blocks."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release: Right hand opens fingers to release the small light green Lego block and small orange Lego block, fully separating from both blocks by the end of the segment."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves with empty fingers toward the small light green Lego block on the dark work surface."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand adjusts extended finger positions to establish stable contact with the small light green Lego block on the dark surface without moving the block."}, {"label": "subtasks", "start_step": 255, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: push: Right hand uses extended fingers to push the small light green Lego block across the dark surface toward the larger green Lego block."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: hold: Right hand remains stationary with extended fingers contacting the small light green Lego block, which rests against the larger green Lego block with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: push_reach: Right hand index finger pushes the stacked light green Lego block slightly to shift its position on the dark gray work surface, with the finger moving away from the block toward the nearby orange Lego block."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: idle: Right hand stays stationary with the index finger resting on the small orange Lego block, no observable movement."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: other:adjust_lego_position: Right hand moves the index finger back to the stacked light green Lego block, presses and pushes the block to make small positional adjustments on the work surface, lifting the finger off the block and moving away at the end of the segment."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves toward the blue Lego block on the dark gray surface with fingers slightly spread and extended."}, {"label": "subtasks", "start_step": 502, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand curls fingers around the blue Lego block, making small adjustments to finger positions to secure the grip while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: transport: Right hand holds the secured blue Lego block and moves it horizontally toward the adjacent green Lego block."}, {"label": "subtasks", "start_step": 668, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: mate: Right hand adjusts the position of the blue Lego block to align and fit it onto the top surface of the green Lego block."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release_retreat: Right hand opens fingers to release the blue Lego block fitted on the green block, moving slightly away from the assembled blocks with an empty hand."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves toward the orange Lego block resting on the dark gray surface, with extended fingers approaching the target block."}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand curls fingers to close around the orange Lego block, adjusting finger contact points to form a stable grasp while the block remains on the dark gray supporting surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: lift: Right hand lifts the grasped orange Lego block upward until the block is completely separated from the dark gray supporting surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: transport: Right hand carries the lifted orange Lego block, moving it downward toward the stacked blue and green Lego blocks below."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: place: Right hand lowers the orange Lego block until the block rests on and is supported by the blue Lego block beneath it."}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: mate: Right hand adjusts the position of the orange Lego block slightly to align it properly with the blue Lego block below, completing the stacking alignment."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release: Right hand extends fingers to open, releasing the grasp on the orange Lego block and separating fingers from the block surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves its extended index finger downward toward the top surface of the stacked orange Lego block, with the fingertip not yet touching the block surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: press_retreat: Right hand applies downward vertical pressure on the top surface of the orange Lego block with its extended index finger, lifting the index finger upward away from the block to complete the pressing motion."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand remains empty and moves upward from the position near the stacked Lego blocks to return to the left home position. | Right hand: return_home: Right hand remains empty and moves upward from the position near the stacked Lego blocks to return to the right home position."}, {"label": "home", "start_step": 1071, "end_step": 1115, "id": "RLCKVcdMXRdRZc2_5v9ND"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: idle: Right hand remains empty in the upper right raised position without active movement."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves downward with extended fingers, approaching the small building blocks on the dark table surface without making contact with the blocks."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand makes contact with the small green and orange building blocks on the table, fingers closing and adjusting slightly to establish a grip on the blocks."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release: Right hand opens fingers to release the small light green Lego block and small orange Lego block, fully separating from both blocks by the end of the segment."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves with empty fingers toward the small light green Lego block on the dark work surface."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand adjusts extended finger positions to establish stable contact with the small light green Lego block on the dark surface without moving the block."}, {"label": "subtasks", "start_step": 255, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: push: Right hand uses extended fingers to push the small light green Lego block across the dark surface toward the larger green Lego block."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: hold: Right hand remains stationary with extended fingers contacting the small light green Lego block, which rests against the larger green Lego block with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: push_reach: Right hand index finger pushes the stacked light green Lego block slightly to shift its position on the dark gray work surface, with the finger moving away from the block toward the nearby orange Lego block."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: idle: Right hand stays stationary with the index finger resting on the small orange Lego block, no observable movement."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: other:adjust_lego_position: Right hand moves the index finger back to the stacked light green Lego block, presses and pushes the block to make small positional adjustments on the work surface, lifting the finger off the block and moving away at the end of the segment."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves toward the blue Lego block on the dark gray surface with fingers slightly spread and extended."}, {"label": "subtasks", "start_step": 502, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand curls fingers around the blue Lego block, making small adjustments to finger positions to secure the grip while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: transport: Right hand holds the secured blue Lego block and moves it horizontally toward the adjacent green Lego block."}, {"label": "subtasks", "start_step": 668, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: mate: Right hand adjusts the position of the blue Lego block to align and fit it onto the top surface of the green Lego block."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release_retreat: Right hand opens fingers to release the blue Lego block fitted on the green block, moving slightly away from the assembled blocks with an empty hand."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves toward the orange Lego block resting on the dark gray surface, with extended fingers approaching the target block."}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand curls fingers to close around the orange Lego block, adjusting finger contact points to form a stable grasp while the block remains on the dark gray supporting surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: lift: Right hand lifts the grasped orange Lego block upward until the block is completely separated from the dark gray supporting surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: transport: Right hand carries the lifted orange Lego block, moving it downward toward the stacked blue and green Lego blocks below."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: place: Right hand lowers the orange Lego block until the block rests on and is supported by the blue Lego block beneath it."}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: mate: Right hand adjusts the position of the orange Lego block slightly to align it properly with the blue Lego block below, completing the stacking alignment."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release: Right hand extends fingers to open, releasing the grasp on the orange Lego block and separating fingers from the block surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves its extended index finger downward toward the top surface of the stacked orange Lego block, with the fingertip not yet touching the block surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: press_retreat: Right hand applies downward vertical pressure on the top surface of the orange Lego block with its extended index finger, lifting the index finger upward away from the block to complete the pressing motion."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand remains empty and moves upward from the position near the stacked Lego blocks to return to the left home position. | Right hand: return_home: Right hand remains empty and moves upward from the position near the stacked Lego blocks to return to the right home position."}], "episode_index": 26}
+{"source_uid": "0424c4046b42f98d", "num_frames": 2864, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand moves slightly upward, adjusting finger and wrist posture while remaining empty and out of contact with any objects. | Right hand: other:adjust_hand_posture: Right hand adjusts its initial wrist and finger posture, remaining empty above the right side of the black table."}, {"label": "valid", "start_step": 0, "end_step": 2818, "id": "TFTDqCW9eUmutFMKX17w_"}, {"label": "subtasks", "start_step": 52, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:adjust_hand_posture: Right hand adjusts its initial wrist and finger posture, remaining empty above the right side of the black table."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the table, with fingers held slightly open."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp_release: Right hand fingers close to make contact with the small green lego brick, adjust position to shift the brick slightly on the black table, and open fingers to separate from the brick."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: idle: Right hand stays empty in the position above the shifted small green lego brick with no visible movement."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the table, with fingers held open."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp_release: Right hand fingers close to contact the top surface of the small green lego brick, adjust finger placement on the brick, and open fingers to separate from the brick."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves upward away from the small green lego brick, remaining empty as it retreats."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small blue lego brick on the dark gray surface, fingers approaching the brick without making contact."}, {"label": "subtasks", "start_step": 330, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand fingers make contact with the small blue lego brick, close and adjust positions to form a stable grip on the brick while the brick remains on the supporting surface."}, {"label": "subtasks", "start_step": 382, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reorient_release: Right hand rotates the gripped small blue lego brick with a small wrist rotation to adjust its upright orientation, opens fingers to release the properly positioned brick onto the supporting surface."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves upward away from the released small blue lego brick, retreating from the brick's position with an empty hand."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves toward the small green lego brick on the dark gray work surface with open fingers, approaching the target brick."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes its fingers around the small green lego brick, making small finger adjustments to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the small green lego brick fully off the work surface and moves it horizontally toward the longer green lego brick positioned to the right."}, {"label": "subtasks", "start_step": 698, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the small green lego brick onto the upper surface of the longer green lego brick, making small positional adjustments to align the small brick."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the small green lego brick, breaking contact with the brick as it tips over onto the work surface."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves with open fingers toward the tipped small green lego brick on the work surface, approaching the fallen brick."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:nudge_brick: Right hand uses extended fingers to nudge the tipped small green lego brick, adjusting its orientation to set it upright on the work surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1071, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: idle: Right hand remains empty above the work surface near the upright small green lego brick without any visible movement."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes its fingers around the upright small green lego brick, adjusting finger positions to establish a stable grip on the brick."}, {"label": "subtasks", "start_step": 1118, "end_step": 1199, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the small green lego brick fully off the work surface and moves it horizontally toward the longer green lego brick below."}, {"label": "subtasks", "start_step": 1200, "end_step": 1341, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the small green lego brick onto the upper surface of the longer green lego brick, making small alignment adjustments and applying gentle pressure to seat the brick."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the stacked small green lego brick, fully separating from contact with the brick."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves away from the stacked lego bricks while empty, retreating from the operation position."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach_grasp: Right hand moves toward the small upright blue lego brick resting on the dark gray table surface, adjusting finger positions to close around the brick and form a stable grasp."}, {"label": "subtasks", "start_step": 1485, "end_step": 1709, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: push: Right hand maintains contact with the grasped small blue lego brick, pushing the brick leftward across the dark table surface until it rests adjacent to the stacked green lego bricks."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the held small blue lego brick, lifting the digits slightly away from the sides of the brick."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: press_retreat: Right hand moves its index finger down to apply downward pressure on the top surface of the small blue lego brick, lifting the finger away from the brick as pressure is completed."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves rightward while empty to approach the small orange lego brick on the dark gray flat surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes fingers around the small orange lego brick, adjusting finger positions to establish a stable grip on the brick resting on the surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 2519, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:repeatedly_flip_lego: Right hand grips the small orange lego brick, repeatedly lifting it slightly off the dark gray surface, rotating it around multiple axes to change its facing direction, and placing it back onto the surface, with continuous small adjustments of fingers and wrist throughout the process."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the small orange lego brick resting on the dark work surface, with the brick remaining on the surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2579, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the grasped orange lego brick clear of the dark surface and moves it horizontally leftward to position it directly over the existing stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 2580, "end_step": 2774, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the orange lego brick onto the top of the stacked green and blue bricks, makes small positional adjustments to align the brick and applies downward pressure to seat it properly."}, {"label": "subtasks", "start_step": 2775, "end_step": 2804, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release_retreat: Right hand opens its fingers to release the seated orange lego brick, then moves upward and rightward away from the lego stack with an empty hand."}, {"label": "subtasks", "start_step": 2805, "end_step": 2863, "id": "reasoning-language-00037", "text": "Left hand: retreat: Left hand remains empty, moves upward and backward away from the stacked lego bricks on the dark table surface, with fingers gradually closing during movement. | Right hand: retreat: Right hand remains empty, moves upward and backward away from the stacked lego bricks on the dark table surface, with fingers gradually adjusting posture during movement."}, {"label": "home", "start_step": 2819, "end_step": 2863, "id": "mXC_301U-Su_J1VAZCeBI"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand moves slightly upward, adjusting finger and wrist posture while remaining empty and out of contact with any objects. | Right hand: other:adjust_hand_posture: Right hand adjusts its initial wrist and finger posture, remaining empty above the right side of the black table."}, {"label": "subtasks", "start_step": 52, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:adjust_hand_posture: Right hand adjusts its initial wrist and finger posture, remaining empty above the right side of the black table."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the table, with fingers held slightly open."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp_release: Right hand fingers close to make contact with the small green lego brick, adjust position to shift the brick slightly on the black table, and open fingers to separate from the brick."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: idle: Right hand stays empty in the position above the shifted small green lego brick with no visible movement."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the table, with fingers held open."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp_release: Right hand fingers close to contact the top surface of the small green lego brick, adjust finger placement on the brick, and open fingers to separate from the brick."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves upward away from the small green lego brick, remaining empty as it retreats."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small blue lego brick on the dark gray surface, fingers approaching the brick without making contact."}, {"label": "subtasks", "start_step": 330, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand fingers make contact with the small blue lego brick, close and adjust positions to form a stable grip on the brick while the brick remains on the supporting surface."}, {"label": "subtasks", "start_step": 382, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reorient_release: Right hand rotates the gripped small blue lego brick with a small wrist rotation to adjust its upright orientation, opens fingers to release the properly positioned brick onto the supporting surface."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves upward away from the released small blue lego brick, retreating from the brick's position with an empty hand."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves toward the small green lego brick on the dark gray work surface with open fingers, approaching the target brick."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes its fingers around the small green lego brick, making small finger adjustments to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the small green lego brick fully off the work surface and moves it horizontally toward the longer green lego brick positioned to the right."}, {"label": "subtasks", "start_step": 698, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the small green lego brick onto the upper surface of the longer green lego brick, making small positional adjustments to align the small brick."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the small green lego brick, breaking contact with the brick as it tips over onto the work surface."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves with open fingers toward the tipped small green lego brick on the work surface, approaching the fallen brick."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:nudge_brick: Right hand uses extended fingers to nudge the tipped small green lego brick, adjusting its orientation to set it upright on the work surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1071, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: idle: Right hand remains empty above the work surface near the upright small green lego brick without any visible movement."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes its fingers around the upright small green lego brick, adjusting finger positions to establish a stable grip on the brick."}, {"label": "subtasks", "start_step": 1118, "end_step": 1199, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the small green lego brick fully off the work surface and moves it horizontally toward the longer green lego brick below."}, {"label": "subtasks", "start_step": 1200, "end_step": 1341, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the small green lego brick onto the upper surface of the longer green lego brick, making small alignment adjustments and applying gentle pressure to seat the brick."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the stacked small green lego brick, fully separating from contact with the brick."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves away from the stacked lego bricks while empty, retreating from the operation position."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach_grasp: Right hand moves toward the small upright blue lego brick resting on the dark gray table surface, adjusting finger positions to close around the brick and form a stable grasp."}, {"label": "subtasks", "start_step": 1485, "end_step": 1709, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: push: Right hand maintains contact with the grasped small blue lego brick, pushing the brick leftward across the dark table surface until it rests adjacent to the stacked green lego bricks."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the held small blue lego brick, lifting the digits slightly away from the sides of the brick."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: press_retreat: Right hand moves its index finger down to apply downward pressure on the top surface of the small blue lego brick, lifting the finger away from the brick as pressure is completed."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves rightward while empty to approach the small orange lego brick on the dark gray flat surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes fingers around the small orange lego brick, adjusting finger positions to establish a stable grip on the brick resting on the surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 2519, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:repeatedly_flip_lego: Right hand grips the small orange lego brick, repeatedly lifting it slightly off the dark gray surface, rotating it around multiple axes to change its facing direction, and placing it back onto the surface, with continuous small adjustments of fingers and wrist throughout the process."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the small orange lego brick resting on the dark work surface, with the brick remaining on the surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2579, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the grasped orange lego brick clear of the dark surface and moves it horizontally leftward to position it directly over the existing stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 2580, "end_step": 2774, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the orange lego brick onto the top of the stacked green and blue bricks, makes small positional adjustments to align the brick and applies downward pressure to seat it properly."}, {"label": "subtasks", "start_step": 2775, "end_step": 2804, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release_retreat: Right hand opens its fingers to release the seated orange lego brick, then moves upward and rightward away from the lego stack with an empty hand."}, {"label": "subtasks", "start_step": 2805, "end_step": 2863, "id": "reasoning-language-00037", "text": "Left hand: retreat: Left hand remains empty, moves upward and backward away from the stacked lego bricks on the dark table surface, with fingers gradually closing during movement. | Right hand: retreat: Right hand remains empty, moves upward and backward away from the stacked lego bricks on the dark table surface, with fingers gradually adjusting posture during movement."}], "episode_index": 27}
+{"source_uid": "ed04f75c39cf98cf", "num_frames": 2594, "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": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward to the upper left area of the table while remaining empty. | Right hand: reach: Right hand moves downward toward the blue block on the table while remaining empty."}, {"label": "valid", "start_step": 0, "end_step": 2549, "id": "VCorts9c1PpHclVwdt4c_"}, {"label": "subtasks", "start_step": 90, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the small green block on the black table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small green block."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the small green block on the table without any movement."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport_place: Right hand transports the small green block to the side of the larger green block and places it on the table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the larger green block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the larger green block slightly to a new position on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_retreat: Right hand releases the larger green block and moves away from the operation position."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the blue block on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue block on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the blue block still above the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the grasped blue block towards the green block on the table."}, {"label": "subtasks", "start_step": 645, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand places the blue block onto the top of the green block and adjusts to assemble them together."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the blue block on top of the yellow base block by opening its fingers."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the blue block on the yellow base block on the table."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press_retreat: Right hand presses the blue block onto the yellow base block, then moves away from the block."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed on the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 1041, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the orange block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1334, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand carries the orange block and moves it toward the combined blue-green block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top of the blue-green block and presses to complete assembly."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand opens its fingers to release the orange block."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: retreat: Right hand moves slightly backward away from the assembled blocks."}, {"label": "subtasks", "start_step": 1455, "end_step": 1694, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the orange block on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: push: Right hand pushes the orange block towards the green and blue blocks on the table."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the orange block on the table near the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1830, "end_step": 1927, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, making slight grip adjustments."}, {"label": "subtasks", "start_step": 1928, "end_step": 2009, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table and moves it to the right side of the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2077, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the orange block onto the right area of the table and releases its grip on the block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the orange block placed on the right area of the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2211, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the orange block and adjusts its position slightly on the table."}, {"label": "subtasks", "start_step": 2212, "end_step": 2294, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand holds the orange block and moves it towards the stacked green and blue blocks on the left."}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand holds the orange block and moves it towards the stacked blue and green blocks."}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand lowers the orange block onto the top surface of the green block."}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand adjusts the orange block to align with the green block for assembly."}, {"label": "subtasks", "start_step": 2460, "end_step": 2519, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the orange block downwards to secure it onto the stacked blocks."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00036", "text": "Left hand: retreat: Left hand moves backward to the left side of the table without holding any object. | Right hand: retreat: Right hand moves backward to the right side of the table without holding any object."}, {"label": "home", "start_step": 2550, "end_step": 2593, "id": "oiXmeVPHSczzA6U1ABOVC"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward to the upper left area of the table while remaining empty. | Right hand: reach: Right hand moves downward toward the blue block on the table while remaining empty."}, {"label": "subtasks", "start_step": 90, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the small green block on the black table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small green block."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the small green block on the table without any movement."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport_place: Right hand transports the small green block to the side of the larger green block and places it on the table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the larger green block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the larger green block slightly to a new position on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_retreat: Right hand releases the larger green block and moves away from the operation position."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the blue block on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue block on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the blue block still above the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the grasped blue block towards the green block on the table."}, {"label": "subtasks", "start_step": 645, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand places the blue block onto the top of the green block and adjusts to assemble them together."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the blue block on top of the yellow base block by opening its fingers."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the blue block on the yellow base block on the table."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press_retreat: Right hand presses the blue block onto the yellow base block, then moves away from the block."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed on the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 1041, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the orange block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1334, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand carries the orange block and moves it toward the combined blue-green block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top of the blue-green block and presses to complete assembly."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand opens its fingers to release the orange block."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: retreat: Right hand moves slightly backward away from the assembled blocks."}, {"label": "subtasks", "start_step": 1455, "end_step": 1694, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the orange block on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: push: Right hand pushes the orange block towards the green and blue blocks on the table."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the orange block on the table near the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1830, "end_step": 1927, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, making slight grip adjustments."}, {"label": "subtasks", "start_step": 1928, "end_step": 2009, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table and moves it to the right side of the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2077, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the orange block onto the right area of the table and releases its grip on the block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the orange block placed on the right area of the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2211, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the orange block and adjusts its position slightly on the table."}, {"label": "subtasks", "start_step": 2212, "end_step": 2294, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand holds the orange block and moves it towards the stacked green and blue blocks on the left."}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand holds the orange block and moves it towards the stacked blue and green blocks."}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand lowers the orange block onto the top surface of the green block."}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand adjusts the orange block to align with the green block for assembly."}, {"label": "subtasks", "start_step": 2460, "end_step": 2519, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the orange block downwards to secure it onto the stacked blocks."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00036", "text": "Left hand: retreat: Left hand moves backward to the left side of the table without holding any object. | Right hand: retreat: Right hand moves backward to the right side of the table without holding any object."}], "episode_index": 28}
+{"source_uid": "965ce1ccedbdf074", "num_frames": 2314, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects, fingers held in a slightly extended posture during the movement. | Right hand: other:move_upward: Right hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects."}, {"label": "valid", "start_step": 0, "end_step": 2267, "id": "Xtb7j4-omYCdgvogXClgY"}, {"label": "subtasks", "start_step": 60, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: other:move_upward: Left hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects, fingers held in a slightly extended posture during the movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the black table surface, remaining empty with fingers slightly adjusting as it approaches the target."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves downward toward the small green lego brick on the black table surface, remaining empty with fingers slightly adjusting as it approaches the target."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand moves slightly toward the small green 1x1 Lego brick and closes fingers to form a grasp on the brick resting on the dark surface."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about half a turn horizontally, keeping the brick in contact with the dark surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick, which stays resting on the dark surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: retreat: Right hand lifts slightly and moves a short distance backward away from the released Lego brick, remaining empty."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves downward toward the small green 1x1 Lego brick on the dark surface, approaching to re-grasp."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers to firmly grasp the small green 1x1 Lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about a quarter turn, maintaining contact with the dark surface."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick onto the dark surface."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves a short distance toward the repositioned small green 1x1 Lego brick, staying close to the dark surface."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to grasp the small green 1x1 Lego brick, making small adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about an eighth of a turn, shifting its position slightly on the dark surface."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand presses a finger against the top surface of the small green 1x1 Lego brick, applying downward force perpendicular to the dark surface."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand repositions fingers and closes them to firmly grasp the small green 1x1 Lego brick on the dark surface."}, {"label": "subtasks", "start_step": 562, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about half a turn, flipping the brick to show its studded side while keeping it near the dark surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick, which rests on the dark surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves toward the small green 1x1 Lego brick on the dark surface, positioning to re-grasp the brick."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers to grasp the small green 1x1 Lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about a quarter turn, adjusting its position slightly on the dark surface."}, {"label": "subtasks", "start_step": 802, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand repeatedly taps the top surface of the small green 1x1 Lego brick with a finger, applying light downward force perpendicular to the dark surface."}, {"label": "subtasks", "start_step": 862, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers around the small green 1x1 Lego brick, adjusting grip to prepare for lifting."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift: Right hand lifts the grasped small green 1x1 Lego brick upward, fully separating it from the dark supporting surface."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand grips the small green 1x1 Lego brick, lifts it off the dark work surface, and moves it downward to the position above the larger green Lego brick."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: place: Right hand lowers the small green 1x1 Lego brick until it rests on the surface of the larger green Lego brick."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: hold: Right hand holds the small green 1x1 Lego brick as it rests on the larger green Lego brick, with no visible movement of the hand or brick."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: mate: Right hand adjusts the position of the small green 1x1 Lego brick, aligning it with the connection studs on the larger green Lego brick to fit the two bricks together."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: hold: Right hand remains stationary on the assembled small green 1x1 Lego brick, holding it in place on the larger green Lego brick."}, {"label": "subtasks", "start_step": 1185, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the blue 1x1 lego brick on the dark work surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1275, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand lifts the grasped blue 1x1 lego brick off the dark surface and moves it leftward and downward toward the adjacent green lego brick."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: place: Right hand lowers the blue 1x1 lego brick onto the top surface of the green lego brick until the blue brick is fully supported by the green brick."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens its fingers to release the blue 1x1 lego brick positioned on the green lego brick, separating fingers from the brick surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1477, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand repeatedly presses and taps the small orange block stacked on the blue-green building block until the block detaches and falls onto the dark table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves with empty fingers toward the small orange block that has fallen onto the dark table surface."}, {"label": "subtasks", "start_step": 1508, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient_release: Right hand grips the small orange block on the table, rotates it to adjust its orientation, and releases the block as it tips over onto the table."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: idle: Right hand stays empty and stationary above the orange block without making contact with any objects."}, {"label": "subtasks", "start_step": 1650, "end_step": 1761, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient_release: Right hand moves down to contact the orange block, rotates and shifts the block slightly to adjust its position and orientation, and releases contact with the block."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves with empty fingers back toward the orange block on the table to approach it for further adjustment."}, {"label": "subtasks", "start_step": 1800, "end_step": 1994, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand grips the orange block, repeatedly rotates the block and adjusts its grip with small finger and wrist movements to modify the block's orientation."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release_retreat: Right hand releases its grip on the orange block and moves a short distance backward away from the block with empty fingers before coming to a stop."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand moves back to contact the orange block, making small rotational and positional adjustments to the block with slight finger and wrist movements."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers around the orange 1x1 lego brick resting on the dark gray table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand lifts the grasped orange 1x1 lego brick off the dark gray table surface and moves it leftward to position directly above the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 2160, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: mate_release: Right hand makes slight positional and rotational adjustments to the grasped orange 1x1 lego brick to align it with the top surface of the blue lego brick, opens fingers to release the brick once it is stably supported by the blue lego brick."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: retreat: Right hand moves empty upward and rightward away from the stacked lego bricks."}, {"label": "subtasks", "start_step": 2265, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: return_home: Left hand moves backward empty toward its initial resting position, with fingers gradually adjusting from an extended pointing posture to a relaxed closed posture during movement. | Right hand: return_home: Right hand moves backward empty toward its initial resting position, with fingers gradually adjusting from an extended pointing posture to a relaxed closed posture during movement."}, {"label": "home", "start_step": 2268, "end_step": 2313, "id": "90NcRpTIHqS8IctVuIFKL"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects, fingers held in a slightly extended posture during the movement. | Right hand: other:move_upward: Right hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects."}, {"label": "subtasks", "start_step": 60, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: other:move_upward: Left hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects, fingers held in a slightly extended posture during the movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the black table surface, remaining empty with fingers slightly adjusting as it approaches the target."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves downward toward the small green lego brick on the black table surface, remaining empty with fingers slightly adjusting as it approaches the target."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand moves slightly toward the small green 1x1 Lego brick and closes fingers to form a grasp on the brick resting on the dark surface."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about half a turn horizontally, keeping the brick in contact with the dark surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick, which stays resting on the dark surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: retreat: Right hand lifts slightly and moves a short distance backward away from the released Lego brick, remaining empty."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves downward toward the small green 1x1 Lego brick on the dark surface, approaching to re-grasp."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers to firmly grasp the small green 1x1 Lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about a quarter turn, maintaining contact with the dark surface."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick onto the dark surface."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves a short distance toward the repositioned small green 1x1 Lego brick, staying close to the dark surface."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to grasp the small green 1x1 Lego brick, making small adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about an eighth of a turn, shifting its position slightly on the dark surface."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand presses a finger against the top surface of the small green 1x1 Lego brick, applying downward force perpendicular to the dark surface."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand repositions fingers and closes them to firmly grasp the small green 1x1 Lego brick on the dark surface."}, {"label": "subtasks", "start_step": 562, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about half a turn, flipping the brick to show its studded side while keeping it near the dark surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick, which rests on the dark surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves toward the small green 1x1 Lego brick on the dark surface, positioning to re-grasp the brick."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers to grasp the small green 1x1 Lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about a quarter turn, adjusting its position slightly on the dark surface."}, {"label": "subtasks", "start_step": 802, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand repeatedly taps the top surface of the small green 1x1 Lego brick with a finger, applying light downward force perpendicular to the dark surface."}, {"label": "subtasks", "start_step": 862, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers around the small green 1x1 Lego brick, adjusting grip to prepare for lifting."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift: Right hand lifts the grasped small green 1x1 Lego brick upward, fully separating it from the dark supporting surface."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand grips the small green 1x1 Lego brick, lifts it off the dark work surface, and moves it downward to the position above the larger green Lego brick."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: place: Right hand lowers the small green 1x1 Lego brick until it rests on the surface of the larger green Lego brick."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: hold: Right hand holds the small green 1x1 Lego brick as it rests on the larger green Lego brick, with no visible movement of the hand or brick."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: mate: Right hand adjusts the position of the small green 1x1 Lego brick, aligning it with the connection studs on the larger green Lego brick to fit the two bricks together."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: hold: Right hand remains stationary on the assembled small green 1x1 Lego brick, holding it in place on the larger green Lego brick."}, {"label": "subtasks", "start_step": 1185, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the blue 1x1 lego brick on the dark work surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1275, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand lifts the grasped blue 1x1 lego brick off the dark surface and moves it leftward and downward toward the adjacent green lego brick."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: place: Right hand lowers the blue 1x1 lego brick onto the top surface of the green lego brick until the blue brick is fully supported by the green brick."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens its fingers to release the blue 1x1 lego brick positioned on the green lego brick, separating fingers from the brick surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1477, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand repeatedly presses and taps the small orange block stacked on the blue-green building block until the block detaches and falls onto the dark table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves with empty fingers toward the small orange block that has fallen onto the dark table surface."}, {"label": "subtasks", "start_step": 1508, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient_release: Right hand grips the small orange block on the table, rotates it to adjust its orientation, and releases the block as it tips over onto the table."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: idle: Right hand stays empty and stationary above the orange block without making contact with any objects."}, {"label": "subtasks", "start_step": 1650, "end_step": 1761, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient_release: Right hand moves down to contact the orange block, rotates and shifts the block slightly to adjust its position and orientation, and releases contact with the block."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves with empty fingers back toward the orange block on the table to approach it for further adjustment."}, {"label": "subtasks", "start_step": 1800, "end_step": 1994, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand grips the orange block, repeatedly rotates the block and adjusts its grip with small finger and wrist movements to modify the block's orientation."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release_retreat: Right hand releases its grip on the orange block and moves a short distance backward away from the block with empty fingers before coming to a stop."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand moves back to contact the orange block, making small rotational and positional adjustments to the block with slight finger and wrist movements."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers around the orange 1x1 lego brick resting on the dark gray table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand lifts the grasped orange 1x1 lego brick off the dark gray table surface and moves it leftward to position directly above the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 2160, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: mate_release: Right hand makes slight positional and rotational adjustments to the grasped orange 1x1 lego brick to align it with the top surface of the blue lego brick, opens fingers to release the brick once it is stably supported by the blue lego brick."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: retreat: Right hand moves empty upward and rightward away from the stacked lego bricks."}, {"label": "subtasks", "start_step": 2265, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: return_home: Left hand moves backward empty toward its initial resting position, with fingers gradually adjusting from an extended pointing posture to a relaxed closed posture during movement. | Right hand: return_home: Right hand moves backward empty toward its initial resting position, with fingers gradually adjusting from an extended pointing posture to a relaxed closed posture during movement."}], "episode_index": 29}
+{"source_uid": "492420e95d172c30", "num_frames": 2068, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and slightly rightward to the upper left area above the black table with fingers open. | Right hand: reach: Right hand moves upward and slightly leftward above the black table with fingers open."}, {"label": "valid", "start_step": 0, "end_step": 2021, "id": "v2RxT2GpfP6TTxjSuXNTq"}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves upward and slightly leftward above the black table with fingers open."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves left to approach the small green cube on the table."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small green cube on the table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 218, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: hold: Right hand holds the small green cube on the table without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand grasps the green block on the table with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reorient: Right hand reorients the green block on the table with slight rotation, position remains mostly unchanged."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and transports it leftward."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: place_release: Right hand places the small green block on the table and releases it."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves toward the small green block on the table with fingers open."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand grasps the small green block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 622, "end_step": 2009, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: hold: Right hand holds the small green block on the table without moving."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00014", "text": "Left hand: return_home: Left hand moves downward and back to the initial left position beside the table. | Right hand: retreat: Right hand moves upward and rightward away from the stacked building blocks on the table."}, {"label": "home", "start_step": 2022, "end_step": 2067, "id": "A_KghZ0uU4d3N75TlsdT9"}, {"label": "subtasks", "start_step": 2048, "end_step": 2054, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the initial left position beside the table without moving. | Right hand: retreat: Right hand moves upward and rightward away from the stacked building blocks on the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2067, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the initial left position beside the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and slightly rightward to the upper left area above the black table with fingers open. | Right hand: reach: Right hand moves upward and slightly leftward above the black table with fingers open."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves upward and slightly leftward above the black table with fingers open."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves left to approach the small green cube on the table."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small green cube on the table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 218, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: hold: Right hand holds the small green cube on the table without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand grasps the green block on the table with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reorient: Right hand reorients the green block on the table with slight rotation, position remains mostly unchanged."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and transports it leftward."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: place_release: Right hand places the small green block on the table and releases it."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves toward the small green block on the table with fingers open."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand grasps the small green block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 622, "end_step": 2009, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: hold: Right hand holds the small green block on the table without moving."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00014", "text": "Left hand: return_home: Left hand moves downward and back to the initial left position beside the table. | Right hand: retreat: Right hand moves upward and rightward away from the stacked building blocks on the table."}, {"label": "subtasks", "start_step": 2048, "end_step": 2054, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the initial left position beside the table without moving. | Right hand: retreat: Right hand moves upward and rightward away from the stacked building blocks on the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2067, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the initial left position beside the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}], "episode_index": 30}
+{"source_uid": "f33968c5aac75771", "num_frames": 2223, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward to the left upper area of the table with fingers open, no object is contacted. | Right hand: reach_grasp: Right hand moves forward and downward toward the small green building block on the table, then makes contact with the block to initiate grasping."}, {"label": "valid", "start_step": 0, "end_step": 2179, "id": "4zbDY8zwBtBSiH_GxfUAJ"}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach_grasp: Right hand moves forward and downward toward the small green building block on the table, then makes contact with the block to initiate grasping."}, {"label": "subtasks", "start_step": 120, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts its fingers to grasp the small green building block on the black surface."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: transport: Right hand transports the grasped small green building block downward toward the larger flat green building block on the table."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: place: Right hand places the small green building block onto the larger flat green building block on the table."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand adjusts the small green building block to align with the larger flat green building block underneath."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the small green building block by opening its fingers."}, {"label": "subtasks", "start_step": 405, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts fingers to grasp the green building block on the table."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the blue building block on the table with fingers open."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers to grasp the blue building block on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes its fingers to grasp the blue building block placed on the grey surface."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the blue building block off the grey surface and transports it downward toward the green building block."}, {"label": "subtasks", "start_step": 638, "end_step": 801, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand aligns the blue building block with the green building block and presses to assemble them together."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand opens its fingers to release the blue building block and moves slightly away."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the orange building block on the table with fingers open."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers around the orange building block on the table and adjusts to form stable grip."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the orange building block from the table and transports it toward the stacked green and blue building blocks."}, {"label": "subtasks", "start_step": 975, "end_step": 1057, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers to grasp the orange building block on the gray table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift: Right hand lifts the grasped orange building block upwards from the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the orange building block as it slips from the grasp, the block falls back to the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the orange building block on the dark table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1297, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers around the orange building block, making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand opens fingers to release the orange building block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1447, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts its fingers to grasp the orange building block on the table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the grasped orange building block and moves it toward the blue building block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1581, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand aligns the orange building block with the blue building block to attempt assembly."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the orange building block and moves slightly away from the blocks."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00028", "text": "Left hand: other:slight_lift_move: Left hand lifts slightly and moves at the left side of the operation area without contacting any operating objects. | Right hand: reach: Right hand moves towards the orange building block on the black tabletop."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves towards the orange building block on the black tabletop."}, {"label": "subtasks", "start_step": 1695, "end_step": 1859, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers and adjusts contact position to grasp the orange building block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: hold: Right hand holds the orange building block stably without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts fingers to grasp the orange building block on the table."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the grasped orange building block downward to the position above the blue building block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the orange building block onto the top of the blue building block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the orange building block to fit it firmly with the blue building block."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00036", "text": "Left hand: return_home: Left hand moves empty back to its initial home position on the left side of the workspace. | Right hand: return_home: Right hand moves empty back to its initial home position on the right side of the workspace."}, {"label": "home", "start_step": 2180, "end_step": 2222, "id": "M1itCT-icucElsK4Ixjxs"}, {"label": "subtasks", "start_step": 2205, "end_step": 2211, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at its left home position. | Right hand: return_home: Right hand moves empty back to its initial home position on the right side of the workspace."}, {"label": "subtasks", "start_step": 2212, "end_step": 2222, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at its left home position. | Right hand: idle: Right hand remains empty and stationary at its right home position."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward to the left upper area of the table with fingers open, no object is contacted. | Right hand: reach_grasp: Right hand moves forward and downward toward the small green building block on the table, then makes contact with the block to initiate grasping."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach_grasp: Right hand moves forward and downward toward the small green building block on the table, then makes contact with the block to initiate grasping."}, {"label": "subtasks", "start_step": 120, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts its fingers to grasp the small green building block on the black surface."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: transport: Right hand transports the grasped small green building block downward toward the larger flat green building block on the table."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: place: Right hand places the small green building block onto the larger flat green building block on the table."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand adjusts the small green building block to align with the larger flat green building block underneath."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the small green building block by opening its fingers."}, {"label": "subtasks", "start_step": 405, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts fingers to grasp the green building block on the table."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the blue building block on the table with fingers open."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers to grasp the blue building block on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes its fingers to grasp the blue building block placed on the grey surface."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the blue building block off the grey surface and transports it downward toward the green building block."}, {"label": "subtasks", "start_step": 638, "end_step": 801, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand aligns the blue building block with the green building block and presses to assemble them together."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand opens its fingers to release the blue building block and moves slightly away."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the orange building block on the table with fingers open."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers around the orange building block on the table and adjusts to form stable grip."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the orange building block from the table and transports it toward the stacked green and blue building blocks."}, {"label": "subtasks", "start_step": 975, "end_step": 1057, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers to grasp the orange building block on the gray table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift: Right hand lifts the grasped orange building block upwards from the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the orange building block as it slips from the grasp, the block falls back to the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the orange building block on the dark table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1297, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers around the orange building block, making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand opens fingers to release the orange building block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1447, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts its fingers to grasp the orange building block on the table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the grasped orange building block and moves it toward the blue building block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1581, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand aligns the orange building block with the blue building block to attempt assembly."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the orange building block and moves slightly away from the blocks."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00028", "text": "Left hand: other:slight_lift_move: Left hand lifts slightly and moves at the left side of the operation area without contacting any operating objects. | Right hand: reach: Right hand moves towards the orange building block on the black tabletop."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves towards the orange building block on the black tabletop."}, {"label": "subtasks", "start_step": 1695, "end_step": 1859, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers and adjusts contact position to grasp the orange building block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: hold: Right hand holds the orange building block stably without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts fingers to grasp the orange building block on the table."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the grasped orange building block downward to the position above the blue building block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the orange building block onto the top of the blue building block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the orange building block to fit it firmly with the blue building block."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00036", "text": "Left hand: return_home: Left hand moves empty back to its initial home position on the left side of the workspace. | Right hand: return_home: Right hand moves empty back to its initial home position on the right side of the workspace."}, {"label": "subtasks", "start_step": 2205, "end_step": 2211, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at its left home position. | Right hand: return_home: Right hand moves empty back to its initial home position on the right side of the workspace."}, {"label": "subtasks", "start_step": 2212, "end_step": 2222, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at its left home position. | Right hand: idle: Right hand remains empty and stationary at its right home position."}], "episode_index": 31}
+{"source_uid": "0e6a66fc9a421f49", "num_frames": 1398, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:reposition_and_open_fingers: Left hand repositions from its initial neutral upright pose, rotates the wrist slightly upward, and opens its fingers from a closed to a spread posture while moving to a stable raised position on the left. | Right hand: reach: Right hand repositions from its initial neutral upright pose, moves downward toward the scattered building blocks on the black table surface, rotates the wrist slightly inward, and opens its fingers as it approaches the blocks."}, {"label": "valid", "start_step": 0, "end_step": 1355, "id": "Qr2DKFo9qIrEvrDMc42si"}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand repositions from its initial neutral upright pose, moves downward toward the scattered building blocks on the black table surface, rotates the wrist slightly inward, and opens its fingers as it approaches the blocks."}, {"label": "subtasks", "start_step": 90, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its fingers around the small green 2x2 building block, makes small positional adjustments to align the fingers before closing them to form a stable grip on the block, which remains on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped small green 2x2 block upward until the block is completely raised off the table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted small green 2x2 block through the air, moving it downward and to the right toward the large green 2x4 building block on the table."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the small green 2x2 block onto the upper surface of the large green 2x4 block until the small block is stably supported by the large block."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: hold: Right hand maintains contact with the small green 2x2 block placed on the large green block, with no observable movement of the hand, fingers, or blocks."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts finger contact points on the small green brick, slightly moving and rotating the brick to adjust its position on the long green brick."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand releases the small green brick, fingers moving away from the brick surface to break contact."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the blue 2x2 lego brick on the dark flat surface with fingers held in an open posture."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand curls fingers around the blue 2x2 lego brick, making slight finger adjustments to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the stably grasped blue 2x2 lego brick upward until the brick is completely separated from the dark supporting surface."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the grasped blue 2x2 lego brick, moving it horizontally toward the nearby green lego bricks on the surface."}, {"label": "subtasks", "start_step": 525, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand contacts the blue brick near the green brick on the table, adjusting fingers and wrist position to form a stable grasp while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped blue brick completely off the table surface, moving it horizontally rightward across the table toward the area next to the orange brick."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the grasped blue brick down to the table surface, setting it stably on the right section of the table adjacent to the orange brick."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the blue brick on the dark gray surface with fingers held open."}, {"label": "subtasks", "start_step": 788, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts finger placement around the blue brick, slightly closing and repositioning fingers to form a grip on the brick."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its fingers around the blue brick resting on the dark work surface to form a stable grip."}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand moves the stably grasped blue brick leftward across the dark work surface toward the green brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand sets the blue brick into a stable supported position on the dark work surface adjacent to the green brick."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the blue brick, breaking contact with the brick surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the 2x2 orange lego brick placed on the dark table surface, with fingers held in a slightly open posture as it approaches the target brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand curls its fingers around the 2x2 orange lego brick, making small adjustments to finger contact positions to establish a grip on the brick that remains resting on the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand firmly holds the orange brick and moves it down-left toward the stacked green and blue bricks on the dark table surface, keeping the brick in the air."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the orange brick to place it onto the top of the stacked green and blue bricks, until the brick is fully supported by the stack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand gradually opens all fingers to release the orange brick, slowly separating the fingers from the brick surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: press: Right hand moves the index finger vertically downward to press the top surface of the placed orange brick, applying downward pressure."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: retreat: Right hand moves empty upward and rightward to retreat from the position of the stacked bricks."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward and outward empty-handed away from the colorful block stack at the center of the table, with fingers gradually adjusting to point upward, until it stops at its initial left resting position. | Right hand: return_home: Right hand moves upward and outward empty-handed away from the colorful block stack at the center of the table, with fingers gradually adjusting to point upward, until it stops at its initial right resting position."}, {"label": "home", "start_step": 1356, "end_step": 1397, "id": "xxept7xGef__RhHS1mumx"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:reposition_and_open_fingers: Left hand repositions from its initial neutral upright pose, rotates the wrist slightly upward, and opens its fingers from a closed to a spread posture while moving to a stable raised position on the left. | Right hand: reach: Right hand repositions from its initial neutral upright pose, moves downward toward the scattered building blocks on the black table surface, rotates the wrist slightly inward, and opens its fingers as it approaches the blocks."}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand repositions from its initial neutral upright pose, moves downward toward the scattered building blocks on the black table surface, rotates the wrist slightly inward, and opens its fingers as it approaches the blocks."}, {"label": "subtasks", "start_step": 90, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its fingers around the small green 2x2 building block, makes small positional adjustments to align the fingers before closing them to form a stable grip on the block, which remains on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped small green 2x2 block upward until the block is completely raised off the table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted small green 2x2 block through the air, moving it downward and to the right toward the large green 2x4 building block on the table."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the small green 2x2 block onto the upper surface of the large green 2x4 block until the small block is stably supported by the large block."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: hold: Right hand maintains contact with the small green 2x2 block placed on the large green block, with no observable movement of the hand, fingers, or blocks."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts finger contact points on the small green brick, slightly moving and rotating the brick to adjust its position on the long green brick."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand releases the small green brick, fingers moving away from the brick surface to break contact."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the blue 2x2 lego brick on the dark flat surface with fingers held in an open posture."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand curls fingers around the blue 2x2 lego brick, making slight finger adjustments to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the stably grasped blue 2x2 lego brick upward until the brick is completely separated from the dark supporting surface."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the grasped blue 2x2 lego brick, moving it horizontally toward the nearby green lego bricks on the surface."}, {"label": "subtasks", "start_step": 525, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand contacts the blue brick near the green brick on the table, adjusting fingers and wrist position to form a stable grasp while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped blue brick completely off the table surface, moving it horizontally rightward across the table toward the area next to the orange brick."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the grasped blue brick down to the table surface, setting it stably on the right section of the table adjacent to the orange brick."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the blue brick on the dark gray surface with fingers held open."}, {"label": "subtasks", "start_step": 788, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts finger placement around the blue brick, slightly closing and repositioning fingers to form a grip on the brick."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its fingers around the blue brick resting on the dark work surface to form a stable grip."}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand moves the stably grasped blue brick leftward across the dark work surface toward the green brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand sets the blue brick into a stable supported position on the dark work surface adjacent to the green brick."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the blue brick, breaking contact with the brick surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the 2x2 orange lego brick placed on the dark table surface, with fingers held in a slightly open posture as it approaches the target brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand curls its fingers around the 2x2 orange lego brick, making small adjustments to finger contact positions to establish a grip on the brick that remains resting on the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand firmly holds the orange brick and moves it down-left toward the stacked green and blue bricks on the dark table surface, keeping the brick in the air."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the orange brick to place it onto the top of the stacked green and blue bricks, until the brick is fully supported by the stack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand gradually opens all fingers to release the orange brick, slowly separating the fingers from the brick surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: press: Right hand moves the index finger vertically downward to press the top surface of the placed orange brick, applying downward pressure."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: retreat: Right hand moves empty upward and rightward to retreat from the position of the stacked bricks."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward and outward empty-handed away from the colorful block stack at the center of the table, with fingers gradually adjusting to point upward, until it stops at its initial left resting position. | Right hand: return_home: Right hand moves upward and outward empty-handed away from the colorful block stack at the center of the table, with fingers gradually adjusting to point upward, until it stops at its initial right resting position."}], "episode_index": 32}
+{"source_uid": "eef4eb1d4beb081b", "num_frames": 1811, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: idle: Right hand remains empty at the right upper initial position without active movement."}, {"label": "valid", "start_step": 0, "end_step": 1771, "id": "86Cs0HgUBlUmCmyrBEPSG"}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the small light green lego block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand contacts the small light green lego block on the black table, fingers close and adjust position to establish a grasp on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves toward the small flat lego brick on the dark gray work surface, with fingers slightly extended, approaching the brick without stable contact."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the edge of the flat lego brick, adjusting finger contact to establish initial grip on the brick resting on the surface."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: hold: Right hand holds the edge of the flat lego brick on the dark gray surface without any observable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and wrist angle slightly on the lego brick, repositioning contact points to secure a stable grip for moving the brick."}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reorient: Right hand grips the lego brick, lifts it slightly off the surface, rotates it about 90 degrees to adjust it to an upright orientation while keeping it in roughly the same horizontal position."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: place: Right hand lowers the rotated lego brick down to the dark gray surface, setting the brick to rest stably in an upright position on the surface."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release_retreat: Right hand opens fingers to release the upright lego brick supported on the surface, moving slightly upward away from the brick with an empty hand."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves left toward the upright small light green lego brick with open fingers, not yet making contact with the brick."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the upright small light green lego brick, making slight grip adjustments while the brick stays on the dark gray supporting surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the small light green lego brick fully off the dark gray surface and moves it rightward to the position directly above the large light green lego brick, rotating the brick to a flat orientation during movement."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: place: Right hand lowers the small light green lego brick onto the top surface of the large light green lego brick until the small brick is stably supported by the larger brick."}, {"label": "subtasks", "start_step": 540, "end_step": 937, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger contact points and grip on the small light green brick on the larger light green plate, slightly shifting the brick closer to the blue block via small wrist movements."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: hold: Right hand holds the small light green brick steady in its adjusted position on the larger plate without movement."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release: Right hand opens fingers and lifts upward, releasing contact with the small light green brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves left toward the dark blue lego brick placed on the dark gray work surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions around the dark blue lego brick, closing fingers to establish and stabilize contact with the brick which remains on the work surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand makes subtle finger and wrist adjustments to establish a stable grasp on the dark blue lego brick placed on the dark table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: lift: Right hand lifts the stably grasped dark blue lego brick vertically upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1237, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: transport: Right hand transports the lifted dark blue lego brick rightward through the air to the position directly above the light green lego brick."}, {"label": "subtasks", "start_step": 1238, "end_step": 1424, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: mate: Right hand aligns the dark blue lego brick with the connection points on the light green lego brick, lowers and presses the dark blue brick to attach it to the light green brick."}, {"label": "subtasks", "start_step": 1425, "end_step": 1559, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach_press: Right hand moves toward the top surface of the dark blue brick stacked on the light green brick, contacts the surface and exerts vertical downward force to press the brick."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: retreat: Right hand moves upward and away from the stacked bricks, retreating from the pressing position with empty fingers."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves leftward toward the small orange lego brick on the dark table surface, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 1598, "end_step": 1701, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the small orange lego brick, adjusting finger positions slightly to attempt closing around the brick."}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the small orange lego brick, which falls downward away from the hand."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: idle: Right hand remains empty above the original position of the orange lego brick without any visible movement."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand remains empty, moves upward and rotates slightly to return to the forward-facing initial home position, with fingers gradually adjusting to a relaxed aligned posture. | Right hand: return_home: Right hand remains empty, moves upward and rotates slightly to return to the forward-facing initial home position, with fingers gradually extending and adjusting to a relaxed aligned posture."}, {"label": "home", "start_step": 1772, "end_step": 1810, "id": "O8KlLxdZwPgg4izwzeaBi"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: idle: Right hand remains empty at the right upper initial position without active movement."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the small light green lego block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand contacts the small light green lego block on the black table, fingers close and adjust position to establish a grasp on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves toward the small flat lego brick on the dark gray work surface, with fingers slightly extended, approaching the brick without stable contact."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the edge of the flat lego brick, adjusting finger contact to establish initial grip on the brick resting on the surface."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: hold: Right hand holds the edge of the flat lego brick on the dark gray surface without any observable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and wrist angle slightly on the lego brick, repositioning contact points to secure a stable grip for moving the brick."}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reorient: Right hand grips the lego brick, lifts it slightly off the surface, rotates it about 90 degrees to adjust it to an upright orientation while keeping it in roughly the same horizontal position."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: place: Right hand lowers the rotated lego brick down to the dark gray surface, setting the brick to rest stably in an upright position on the surface."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release_retreat: Right hand opens fingers to release the upright lego brick supported on the surface, moving slightly upward away from the brick with an empty hand."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves left toward the upright small light green lego brick with open fingers, not yet making contact with the brick."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the upright small light green lego brick, making slight grip adjustments while the brick stays on the dark gray supporting surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the small light green lego brick fully off the dark gray surface and moves it rightward to the position directly above the large light green lego brick, rotating the brick to a flat orientation during movement."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: place: Right hand lowers the small light green lego brick onto the top surface of the large light green lego brick until the small brick is stably supported by the larger brick."}, {"label": "subtasks", "start_step": 540, "end_step": 937, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger contact points and grip on the small light green brick on the larger light green plate, slightly shifting the brick closer to the blue block via small wrist movements."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: hold: Right hand holds the small light green brick steady in its adjusted position on the larger plate without movement."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release: Right hand opens fingers and lifts upward, releasing contact with the small light green brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves left toward the dark blue lego brick placed on the dark gray work surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions around the dark blue lego brick, closing fingers to establish and stabilize contact with the brick which remains on the work surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand makes subtle finger and wrist adjustments to establish a stable grasp on the dark blue lego brick placed on the dark table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: lift: Right hand lifts the stably grasped dark blue lego brick vertically upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1237, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: transport: Right hand transports the lifted dark blue lego brick rightward through the air to the position directly above the light green lego brick."}, {"label": "subtasks", "start_step": 1238, "end_step": 1424, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: mate: Right hand aligns the dark blue lego brick with the connection points on the light green lego brick, lowers and presses the dark blue brick to attach it to the light green brick."}, {"label": "subtasks", "start_step": 1425, "end_step": 1559, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach_press: Right hand moves toward the top surface of the dark blue brick stacked on the light green brick, contacts the surface and exerts vertical downward force to press the brick."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: retreat: Right hand moves upward and away from the stacked bricks, retreating from the pressing position with empty fingers."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves leftward toward the small orange lego brick on the dark table surface, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 1598, "end_step": 1701, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the small orange lego brick, adjusting finger positions slightly to attempt closing around the brick."}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the small orange lego brick, which falls downward away from the hand."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: idle: Right hand remains empty above the original position of the orange lego brick without any visible movement."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand remains empty, moves upward and rotates slightly to return to the forward-facing initial home position, with fingers gradually adjusting to a relaxed aligned posture. | Right hand: return_home: Right hand remains empty, moves upward and rotates slightly to return to the forward-facing initial home position, with fingers gradually extending and adjusting to a relaxed aligned posture."}], "episode_index": 33}
+{"source_uid": "5e8151eb7fa208d1", "num_frames": 2376, "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": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and left toward the small green block on the left side of the table."}, {"label": "valid", "start_step": 0, "end_step": 2327, "id": "z0ujOCaOeXjxiUcpoQ0z5"}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the small green block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers and makes slight grip adjustments to grasp the small green block on the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped small green block off the black supporting surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the small green block rightward above the larger green block."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the small green block onto the larger green block."}, {"label": "subtasks", "start_step": 285, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the small green block downward to stack it firmly on the larger green block placed on the mat."}, {"label": "subtasks", "start_step": 405, "end_step": 794, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the small green block stacked on the larger green block without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 929, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand closes fingers to grasp the green block on the table then releases the green block."}, {"label": "subtasks", "start_step": 930, "end_step": 1034, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the blue block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1184, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the blue block on the table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the blue block up from the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the blue block rightward to the position above the green block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00014", "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 onto the top of the stacked green block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1311, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the blue block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the blue block and moves away slightly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the orange block on the table to form a grip."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the orange block on the table without moving."}, {"label": "subtasks", "start_step": 1448, "end_step": 1574, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to re-grasp the orange block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped orange block leftward to the position above the green block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00021", "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, with fingers separating from the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the fallen orange block on the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1761, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the fallen orange block, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the orange block to adjust its orientation to an upright position."}, {"label": "subtasks", "start_step": 1830, "end_step": 2001, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the upright orange block toward the stacked green and blue blocks on the table."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00026", "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, fingers open to separate from the block surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the orange block without moving."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the orange block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table and transports it leftward to the position above the blue block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the orange block by opening its fingers."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses down on the orange block to secure it onto the blue block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2375, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "home", "start_step": 2328, "end_step": 2375, "id": "12WlISC5ha6pcGE53g7Hj"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and left toward the small green block on the left side of the table."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the small green block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers and makes slight grip adjustments to grasp the small green block on the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped small green block off the black supporting surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the small green block rightward above the larger green block."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the small green block onto the larger green block."}, {"label": "subtasks", "start_step": 285, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the small green block downward to stack it firmly on the larger green block placed on the mat."}, {"label": "subtasks", "start_step": 405, "end_step": 794, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the small green block stacked on the larger green block without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 929, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand closes fingers to grasp the green block on the table then releases the green block."}, {"label": "subtasks", "start_step": 930, "end_step": 1034, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the blue block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1184, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the blue block on the table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the blue block up from the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the blue block rightward to the position above the green block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00014", "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 onto the top of the stacked green block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1311, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the blue block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the blue block and moves away slightly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the orange block on the table to form a grip."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the orange block on the table without moving."}, {"label": "subtasks", "start_step": 1448, "end_step": 1574, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to re-grasp the orange block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped orange block leftward to the position above the green block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00021", "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, with fingers separating from the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the fallen orange block on the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1761, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the fallen orange block, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the orange block to adjust its orientation to an upright position."}, {"label": "subtasks", "start_step": 1830, "end_step": 2001, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the upright orange block toward the stacked green and blue blocks on the table."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00026", "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, fingers open to separate from the block surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the orange block without moving."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the orange block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table and transports it leftward to the position above the blue block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the orange block by opening its fingers."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses down on the orange block to secure it onto the blue block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2375, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}], "episode_index": 34}
+{"source_uid": "9714fd6d4c144820", "num_frames": 1412, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:raise_and_extend_fingers: Left hand rises slightly at the upper left of the frame, with fingers extending to an open position. | Right hand: other:raise_and_extend_fingers: Right hand rises slightly at the upper right of the frame, with fingers extending to an open position."}, {"label": "valid", "start_step": 0, "end_step": 1364, "id": "DsYgolgJ2BNzJpT9UU4pe"}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: other:raise_and_extend_fingers: Right hand rises slightly at the upper right of the frame, with fingers extending to an open position."}, {"label": "subtasks", "start_step": 68, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves downward toward the blue building block on the black table surface, remaining empty without contacting the block."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves downward toward the small light green 2x2 lego block on the dark work surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 90, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand gradually curls its fingers around the small light green 2x2 lego block, making subtle positional adjustments to establish contact with the block while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: transport: Right hand holds the small light green lego block and moves it downward toward the larger light green lego block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 270, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand adjusts the position and orientation of the small light green lego block to align its connection points with those on the larger light green lego block below."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: press: Right hand applies downward pressure on the top surface of the small light green lego block to secure it to the larger light green lego block."}, {"label": "subtasks", "start_step": 405, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves from the green lego block position toward the blue 2x2 lego block with empty hand, approaching the target."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand contacts the blue 2x2 lego block, closes fingers and makes slight adjustments to establish a firm grip on the block."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: lift_transport: Right hand holds the blue lego block, lifts it from the dark flat surface and moves it leftward toward the green lego block."}, {"label": "subtasks", "start_step": 615, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand adjusts the position of the held blue lego block to align it flush against the adjacent side of the green lego block."}, {"label": "subtasks", "start_step": 720, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves rightward toward the orange 2x2 lego block on the dark flat surface, with fingers held in a slightly open position."}, {"label": "subtasks", "start_step": 870, "end_step": 989, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand curls its fingers to close around the orange 2x2 lego block, making minor adjustments to form contact with the block which remains on the dark surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reorient: Right hand holds the orange lego block and rotates it about half a turn to flip its orientation, with minimal positional change over the dark table surface."}, {"label": "subtasks", "start_step": 1028, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: hold: Right hand holds the flipped orange lego block steadily on the dark table surface without visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1177, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: lift_transport: Right hand lifts the orange lego block off the dark supporting surface and transports it leftward toward the stacked green and blue lego assembly."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand makes minor positional adjustments to align the held orange lego block and mates it onto the top of the stacked lego assembly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: release: Right hand opens its fingers to release the mated orange lego block on top of the stacked lego assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1349, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00023", "text": "Left hand: return_home: Left hand moves downward from the upper left resting position to the left home position, with fingers spreading from a closed extended state to a natural relaxed state, and stops steadily at the home position. | Right hand: retreat: Right hand moves upward away from the lego stack on the dark table surface, with fingers gradually spreading open during the upward movement."}, {"label": "home", "start_step": 1365, "end_step": 1411, "id": "rMglJ0lFMR6L3II2LNZ0G"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00024", "text": "Left hand: return_home: Left hand moves downward from the upper left resting position to the left home position, with fingers spreading from a closed extended state to a natural relaxed state, and stops steadily at the home position. | Right hand: return_home: Right hand moves downward from the upper right area to the right home position, adjusting wrist and finger posture, and stops steadily at the home position."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:raise_and_extend_fingers: Left hand rises slightly at the upper left of the frame, with fingers extending to an open position. | Right hand: other:raise_and_extend_fingers: Right hand rises slightly at the upper right of the frame, with fingers extending to an open position."}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: other:raise_and_extend_fingers: Right hand rises slightly at the upper right of the frame, with fingers extending to an open position."}, {"label": "subtasks", "start_step": 68, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves downward toward the blue building block on the black table surface, remaining empty without contacting the block."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves downward toward the small light green 2x2 lego block on the dark work surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 90, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand gradually curls its fingers around the small light green 2x2 lego block, making subtle positional adjustments to establish contact with the block while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: transport: Right hand holds the small light green lego block and moves it downward toward the larger light green lego block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 270, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand adjusts the position and orientation of the small light green lego block to align its connection points with those on the larger light green lego block below."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: press: Right hand applies downward pressure on the top surface of the small light green lego block to secure it to the larger light green lego block."}, {"label": "subtasks", "start_step": 405, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves from the green lego block position toward the blue 2x2 lego block with empty hand, approaching the target."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand contacts the blue 2x2 lego block, closes fingers and makes slight adjustments to establish a firm grip on the block."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: lift_transport: Right hand holds the blue lego block, lifts it from the dark flat surface and moves it leftward toward the green lego block."}, {"label": "subtasks", "start_step": 615, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand adjusts the position of the held blue lego block to align it flush against the adjacent side of the green lego block."}, {"label": "subtasks", "start_step": 720, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves rightward toward the orange 2x2 lego block on the dark flat surface, with fingers held in a slightly open position."}, {"label": "subtasks", "start_step": 870, "end_step": 989, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand curls its fingers to close around the orange 2x2 lego block, making minor adjustments to form contact with the block which remains on the dark surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reorient: Right hand holds the orange lego block and rotates it about half a turn to flip its orientation, with minimal positional change over the dark table surface."}, {"label": "subtasks", "start_step": 1028, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: hold: Right hand holds the flipped orange lego block steadily on the dark table surface without visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1177, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: lift_transport: Right hand lifts the orange lego block off the dark supporting surface and transports it leftward toward the stacked green and blue lego assembly."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand makes minor positional adjustments to align the held orange lego block and mates it onto the top of the stacked lego assembly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: release: Right hand opens its fingers to release the mated orange lego block on top of the stacked lego assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1349, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00023", "text": "Left hand: return_home: Left hand moves downward from the upper left resting position to the left home position, with fingers spreading from a closed extended state to a natural relaxed state, and stops steadily at the home position. | Right hand: retreat: Right hand moves upward away from the lego stack on the dark table surface, with fingers gradually spreading open during the upward movement."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00024", "text": "Left hand: return_home: Left hand moves downward from the upper left resting position to the left home position, with fingers spreading from a closed extended state to a natural relaxed state, and stops steadily at the home position. | Right hand: return_home: Right hand moves downward from the upper right area to the right home position, adjusting wrist and finger posture, and stops steadily at the home position."}], "episode_index": 35}
+{"source_uid": "5dd9e0425ee96449", "num_frames": 1198, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: idle: Right hand remains empty in the upper right resting position with fingers extended, showing no obvious movement toward the lego bricks."}, {"label": "valid", "start_step": 0, "end_step": 1146, "id": "3LqJ0ZsVOr0viNFTCpj8H"}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward toward the small bright green 2x2 lego brick on the black table surface, with fingers slightly curved as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts fingers around the small bright green 2x2 lego brick, making contact with the brick that stays on the table to begin forming a stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger contact positions and closes its fingers around the small bright green 2x2 lego brick resting on the dark flat supporting surface to establish a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped small bright green 2x2 lego brick completely off the supporting surface and moves it toward the adjacent green lego pieces."}, {"label": "subtasks", "start_step": 225, "end_step": 471, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the small bright green 2x2 lego brick resting on the larger green lego brick, making continuous fine adjustments to the brick's position via slight finger and wrist movements."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand opens fingers to release the small bright green 2x2 lego brick, lifting fingers away from the brick surface."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves leftward while empty from the position above the stacked green bricks, approaching the blue 2x2 brick on the dark supporting surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the blue 2x2 brick, making small adjustments to finger positions to establish a stable grasp while the brick stays on the supporting surface."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: lift: Right hand holds the grasped blue 2x2 brick and moves upward, lifting the brick completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: transport: Right hand holds the grasped blue 2x2 lego brick and moves it rightward and downward to the position directly above the green 2x2 lego brick on the dark surface."}, {"label": "subtasks", "start_step": 622, "end_step": 749, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: place: Right hand lowers the blue 2x2 lego brick onto the top of the green lego brick, making slight positional adjustments to align the bricks while maintaining a firm grip."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves empty rightward and slightly upward away from the stacked green and blue lego bricks, approaching the small orange 2x2 lego brick on the dark gray work surface."}, {"label": "subtasks", "start_step": 802, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the orange 2x2 lego brick, making contact with the brick surface to form a grip."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: transport_place: Right hand holds the grasped orange 2x2 lego brick, moves it leftward through the air and places it onto the top surface of the blue lego brick on the stacked structure."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: mate: Right hand adjusts the position of the orange lego brick to align its connection points with the blue lego brick below to form an assembled fit."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: hold: Right hand holds the aligned orange lego brick steadily on top of the blue lego brick without movement."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the orange lego brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the orange lego brick to secure the assembled lego structure."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand opens fingers to release contact with the top of the stacked lego blocks, fully separating from the lego stack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1197, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: return_home: Right hand moves empty upward and backward away from the lego stack, adjusting finger posture gradually until stopping stably at the right home position."}, {"label": "home", "start_step": 1147, "end_step": 1197, "id": "evQYvlH-mpDzl5pq2RKee"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: idle: Right hand remains empty in the upper right resting position with fingers extended, showing no obvious movement toward the lego bricks."}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward toward the small bright green 2x2 lego brick on the black table surface, with fingers slightly curved as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts fingers around the small bright green 2x2 lego brick, making contact with the brick that stays on the table to begin forming a stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger contact positions and closes its fingers around the small bright green 2x2 lego brick resting on the dark flat supporting surface to establish a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped small bright green 2x2 lego brick completely off the supporting surface and moves it toward the adjacent green lego pieces."}, {"label": "subtasks", "start_step": 225, "end_step": 471, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the small bright green 2x2 lego brick resting on the larger green lego brick, making continuous fine adjustments to the brick's position via slight finger and wrist movements."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand opens fingers to release the small bright green 2x2 lego brick, lifting fingers away from the brick surface."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves leftward while empty from the position above the stacked green bricks, approaching the blue 2x2 brick on the dark supporting surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the blue 2x2 brick, making small adjustments to finger positions to establish a stable grasp while the brick stays on the supporting surface."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: lift: Right hand holds the grasped blue 2x2 brick and moves upward, lifting the brick completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: transport: Right hand holds the grasped blue 2x2 lego brick and moves it rightward and downward to the position directly above the green 2x2 lego brick on the dark surface."}, {"label": "subtasks", "start_step": 622, "end_step": 749, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: place: Right hand lowers the blue 2x2 lego brick onto the top of the green lego brick, making slight positional adjustments to align the bricks while maintaining a firm grip."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves empty rightward and slightly upward away from the stacked green and blue lego bricks, approaching the small orange 2x2 lego brick on the dark gray work surface."}, {"label": "subtasks", "start_step": 802, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the orange 2x2 lego brick, making contact with the brick surface to form a grip."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: transport_place: Right hand holds the grasped orange 2x2 lego brick, moves it leftward through the air and places it onto the top surface of the blue lego brick on the stacked structure."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: mate: Right hand adjusts the position of the orange lego brick to align its connection points with the blue lego brick below to form an assembled fit."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: hold: Right hand holds the aligned orange lego brick steadily on top of the blue lego brick without movement."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the orange lego brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the orange lego brick to secure the assembled lego structure."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand opens fingers to release contact with the top of the stacked lego blocks, fully separating from the lego stack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1197, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: return_home: Right hand moves empty upward and backward away from the lego stack, adjusting finger posture gradually until stopping stably at the right home position."}], "episode_index": 36}
+{"source_uid": "cb6e96eba0aab05a", "num_frames": 1411, "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": 44, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward to the left side of the table. | Right hand: reach: Right hand moves forward and downward toward the blue block on the table."}, {"label": "valid", "start_step": 0, "end_step": 1362, "id": "BguG4WdH_ozkdWOyU8QGL"}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward and downward toward the blue block on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the small green block on the black table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the small green block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and transports it above the larger green block."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "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 onto the larger green block on the table."}, {"label": "subtasks", "start_step": 240, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green building block on the table surface downward."}, {"label": "subtasks", "start_step": 398, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand lifts fingers and moves away from the green building block."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand contacts the green block, adjusts fingers on the block surface, and lifts fingers away from the block."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the blue block placed on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the blue block."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00013", "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 upwards away from the table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the blue block and transports it toward the green block on the table."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the green block to fit them together."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the assembled blue and green blocks without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "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 aligns the orange block with the blue block on the green base."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00018", "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 blue block."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00019", "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 blue block."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block to the area next to the green base."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip to grasp the orange block placed on the dark table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00023", "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 away from the dark table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the orange block with the stacked green and blue blocks by aligning and pressing it into place."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "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 blue block on top of the stacked blocks placed on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the stacked blocks."}, {"label": "subtasks", "start_step": 1350, "end_step": 1410, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "home", "start_step": 1363, "end_step": 1410, "id": "mZ941tkvF3hx6VLUhkAY-"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward to the left side of the table. | Right hand: reach: Right hand moves forward and downward toward the blue block on the table."}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward and downward toward the blue block on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the small green block on the black table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the small green block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and transports it above the larger green block."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "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 onto the larger green block on the table."}, {"label": "subtasks", "start_step": 240, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green building block on the table surface downward."}, {"label": "subtasks", "start_step": 398, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand lifts fingers and moves away from the green building block."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand contacts the green block, adjusts fingers on the block surface, and lifts fingers away from the block."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the blue block placed on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the blue block."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00013", "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 upwards away from the table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the blue block and transports it toward the green block on the table."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the green block to fit them together."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the assembled blue and green blocks without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "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 aligns the orange block with the blue block on the green base."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00018", "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 blue block."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00019", "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 blue block."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block to the area next to the green base."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip to grasp the orange block placed on the dark table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00023", "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 away from the dark table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the orange block with the stacked green and blue blocks by aligning and pressing it into place."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "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 blue block on top of the stacked blocks placed on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the stacked blocks."}, {"label": "subtasks", "start_step": 1350, "end_step": 1410, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}], "episode_index": 37}
+{"source_uid": "10dec1fd7c95effe", "num_frames": 1361, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:move_upper_left: Left hand moves empty upward and slightly left to the upper left position above the black table. | Right hand: other:move_upper_right: Right hand moves empty upward to the upper right position above the black table."}, {"label": "valid", "start_step": 0, "end_step": 1315, "id": "MkBDNWZ7-kO7uIdXfIZkY"}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: other:move_upper_right: Right hand moves empty upward to the upper right position above the black table."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves empty downward toward the small green 2-stud block resting on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand curls fingers to close around the small green block, adjusting finger positions to form a grasp."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand adjusts finger positions and closes around the small lime green lego block resting on the dark work surface to establish a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift: Right hand lifts the grasped small lime green lego block upward until the block fully leaves the dark work surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: transport: Right hand carries the grasped small lime green lego block, moving it horizontally across the workspace."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: place: Right hand lowers the grasped small lime green lego block downward until the block rests stably on the dark work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the small lime green lego block, separating the fingers from the block."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: idle: Right hand remains empty next to the small lime green lego block on the work surface without moving."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_grasp: Right hand moves fingers to the small lime green lego block, closes fingers around the block to re-establish a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift_transport: Right hand lifts the small lime green lego block off the dark work surface, moves it to the larger green lego block, sets the block on the larger block's surface."}, {"label": "subtasks", "start_step": 375, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: hold: Right hand holds the small lime green lego block stably on top of the larger green lego block without any movement."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the small lime green lego block resting on the dark flat surface, lifting fingers away from the block."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_press: Right hand moves its index finger to the top surface of the small lime green lego block, presses down slightly and makes small positional adjustments to the block on the dark surface."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: retreat: Right hand lifts its index finger off the small lime green lego block and retreats slightly away from the block."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves leftward with slightly open fingers, approaching the blue lego block resting on the dark table."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand closes fingers around the blue lego block, making small grip adjustments while the block stays on the table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift: Right hand lifts the grasped blue lego block upward, completely separating the block from the dark table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: transport_place: Right hand carries the grasped blue lego block rightward and downward, placing it onto the top surface of the nearby green lego block."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: hold: Right hand holds the blue lego block steady on top of the green lego block with no visible movement of the hand or blocks."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the blue lego block stacked on top of the green and yellow lego piece."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves empty fingers slightly toward the released blue lego block on the dark gray surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: other:tap_and_adjust: Right hand contacts the blue lego block, taps it and slightly adjusts its position on the surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves rightward toward the orange lego block on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand closes fingers around the orange lego block on the dark table surface, making small adjustments to finger positions to secure the grip."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: place: Right hand grips the orange lego block, lifts it from the table surface, moves it leftward over the blue lego block, and lowers it to rest on top of the blue lego block."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand makes slight finger adjustments to its grip on the orange lego block resting on the blue lego block to stabilize contact with the block."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens its fingers gradually to release the orange lego block, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: retreat: Right hand moves empty away from the lego stack, retreating to the right side of the orange lego block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_press: Right hand moves empty leftward toward the top surface of the orange lego block and presses down on the block's top surface with fingers applying vertical downward pressure."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand releases the stacked lego block resting on the dark gray table, opening fingers to break contact with the orange top section of the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: return_home: Right hand remains empty, moves downward from the area adjacent to the lego block to the lower right home position, and comes to a stable stop."}, {"label": "home", "start_step": 1316, "end_step": 1360, "id": "k1Y7Hbn8MQeBRt0dvVoQi"}, {"label": "subtasks", "start_step": 1320, "end_step": 1360, "id": "reasoning-language-00034", "text": "Left hand: return_home: Left hand remains empty, moves downward from the upper left position to the lower left home position with slight wrist rotation, and comes to a stable stop at the home position. | Right hand: return_home: Right hand remains empty, moves downward from the area adjacent to the lego block to the lower right home position, and comes to a stable stop."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:move_upper_left: Left hand moves empty upward and slightly left to the upper left position above the black table. | Right hand: other:move_upper_right: Right hand moves empty upward to the upper right position above the black table."}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: other:move_upper_right: Right hand moves empty upward to the upper right position above the black table."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves empty downward toward the small green 2-stud block resting on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand curls fingers to close around the small green block, adjusting finger positions to form a grasp."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand adjusts finger positions and closes around the small lime green lego block resting on the dark work surface to establish a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift: Right hand lifts the grasped small lime green lego block upward until the block fully leaves the dark work surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: transport: Right hand carries the grasped small lime green lego block, moving it horizontally across the workspace."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: place: Right hand lowers the grasped small lime green lego block downward until the block rests stably on the dark work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the small lime green lego block, separating the fingers from the block."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: idle: Right hand remains empty next to the small lime green lego block on the work surface without moving."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_grasp: Right hand moves fingers to the small lime green lego block, closes fingers around the block to re-establish a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift_transport: Right hand lifts the small lime green lego block off the dark work surface, moves it to the larger green lego block, sets the block on the larger block's surface."}, {"label": "subtasks", "start_step": 375, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: hold: Right hand holds the small lime green lego block stably on top of the larger green lego block without any movement."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the small lime green lego block resting on the dark flat surface, lifting fingers away from the block."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_press: Right hand moves its index finger to the top surface of the small lime green lego block, presses down slightly and makes small positional adjustments to the block on the dark surface."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: retreat: Right hand lifts its index finger off the small lime green lego block and retreats slightly away from the block."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves leftward with slightly open fingers, approaching the blue lego block resting on the dark table."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand closes fingers around the blue lego block, making small grip adjustments while the block stays on the table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift: Right hand lifts the grasped blue lego block upward, completely separating the block from the dark table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: transport_place: Right hand carries the grasped blue lego block rightward and downward, placing it onto the top surface of the nearby green lego block."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: hold: Right hand holds the blue lego block steady on top of the green lego block with no visible movement of the hand or blocks."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the blue lego block stacked on top of the green and yellow lego piece."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves empty fingers slightly toward the released blue lego block on the dark gray surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: other:tap_and_adjust: Right hand contacts the blue lego block, taps it and slightly adjusts its position on the surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves rightward toward the orange lego block on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand closes fingers around the orange lego block on the dark table surface, making small adjustments to finger positions to secure the grip."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: place: Right hand grips the orange lego block, lifts it from the table surface, moves it leftward over the blue lego block, and lowers it to rest on top of the blue lego block."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand makes slight finger adjustments to its grip on the orange lego block resting on the blue lego block to stabilize contact with the block."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens its fingers gradually to release the orange lego block, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: retreat: Right hand moves empty away from the lego stack, retreating to the right side of the orange lego block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_press: Right hand moves empty leftward toward the top surface of the orange lego block and presses down on the block's top surface with fingers applying vertical downward pressure."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand releases the stacked lego block resting on the dark gray table, opening fingers to break contact with the orange top section of the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: return_home: Right hand remains empty, moves downward from the area adjacent to the lego block to the lower right home position, and comes to a stable stop."}, {"label": "subtasks", "start_step": 1320, "end_step": 1360, "id": "reasoning-language-00034", "text": "Left hand: return_home: Left hand remains empty, moves downward from the upper left position to the lower left home position with slight wrist rotation, and comes to a stable stop at the home position. | Right hand: return_home: Right hand remains empty, moves downward from the area adjacent to the lego block to the lower right home position, and comes to a stable stop."}], "episode_index": 38}
+{"source_uid": "0d0a621b7106c652", "num_frames": 1219, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1176, "id": "cfkyreRDcWEVfChpJ0gB1"}, {"label": "subtasks", "start_step": 15, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: other:rise_slightly_upward: Left hand rises slightly upward at the left side of the black table with fingers extended, keeping empty and not contacting any object."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00002", "text": "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 2-stud brick on the dark flat surface."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green 2-stud brick on the dark flat surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green 2-stud brick on the dark surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "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 2-stud brick off the dark surface and moves it rightward to the position above another green brick."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "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 2-stud brick onto the upper surface of the lower green brick until it is supported."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the small green 2-stud brick on the lower green brick without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its grip on the small green 2-stud brick, with fingers slightly closing and repositioning on the brick surface."}, {"label": "subtasks", "start_step": 270, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: push: Right hand pushes the small green 2-stud brick leftward on the dark flat surface, with the brick remaining in contact with the surface during movement."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves leftward and upward from above the green brick toward the blue brick."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue brick on the dark surface, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue dice on the table, with fingers closing and making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the blue dice from the table and transports it rightward above the green block."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place: Right hand places the blue dice onto the green block."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand holds the blue dice and aligns it with the green brick assembly on the dark surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the blue dice, with fingers opening and separating from the dice."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves upward away from the blue dice as an empty hand."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach_grasp: Right hand reaches toward the blue dice and grasps it with fingers closing around the dice."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the blue dice to align with the green brick assembly on the dark surface."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "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 blue dice, with fingers opening and separating from the dice."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves backward and upward away from the blue dice as an empty hand."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves leftward and upward toward the orange brick on the dark working surface with fingers open."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange brick on the dark working surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange 2x2 brick on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the orange 2x2 brick off the table and transports it leftward to the position above the green-blue stacked brick."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00026", "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 2x2 brick onto the green-blue stacked brick on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand mates the orange 2x2 brick with the green brick beneath it."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the orange 2x2 brick to align it with the blue brick below for assembly."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00029", "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 2x2 brick downward onto the blue brick to secure the assembly."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release_retreat: Right hand releases the orange 2x2 brick and retreats upward away from the brick stack."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: return_home: Left hand moves leftward from the area near the stacked colorful building blocks on the table and stops at the left home position. | Right hand: return_home: Right hand moves rightward from the area near the stacked colorful building blocks on the table and stops at the right home position."}, {"label": "home", "start_step": 1177, "end_step": 1218, "id": "MuNx_8J9BM9X-leGwL9kD"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: other:rise_slightly_upward: Left hand rises slightly upward at the left side of the black table with fingers extended, keeping empty and not contacting any object."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00002", "text": "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 2-stud brick on the dark flat surface."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green 2-stud brick on the dark flat surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green 2-stud brick on the dark surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "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 2-stud brick off the dark surface and moves it rightward to the position above another green brick."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "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 2-stud brick onto the upper surface of the lower green brick until it is supported."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the small green 2-stud brick on the lower green brick without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its grip on the small green 2-stud brick, with fingers slightly closing and repositioning on the brick surface."}, {"label": "subtasks", "start_step": 270, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: push: Right hand pushes the small green 2-stud brick leftward on the dark flat surface, with the brick remaining in contact with the surface during movement."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves leftward and upward from above the green brick toward the blue brick."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue brick on the dark surface, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue dice on the table, with fingers closing and making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the blue dice from the table and transports it rightward above the green block."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place: Right hand places the blue dice onto the green block."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand holds the blue dice and aligns it with the green brick assembly on the dark surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the blue dice, with fingers opening and separating from the dice."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves upward away from the blue dice as an empty hand."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach_grasp: Right hand reaches toward the blue dice and grasps it with fingers closing around the dice."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the blue dice to align with the green brick assembly on the dark surface."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "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 blue dice, with fingers opening and separating from the dice."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves backward and upward away from the blue dice as an empty hand."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves leftward and upward toward the orange brick on the dark working surface with fingers open."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange brick on the dark working surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange 2x2 brick on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the orange 2x2 brick off the table and transports it leftward to the position above the green-blue stacked brick."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00026", "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 2x2 brick onto the green-blue stacked brick on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand mates the orange 2x2 brick with the green brick beneath it."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the orange 2x2 brick to align it with the blue brick below for assembly."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00029", "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 2x2 brick downward onto the blue brick to secure the assembly."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release_retreat: Right hand releases the orange 2x2 brick and retreats upward away from the brick stack."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: return_home: Left hand moves leftward from the area near the stacked colorful building blocks on the table and stops at the left home position. | Right hand: return_home: Right hand moves rightward from the area near the stacked colorful building blocks on the table and stops at the right home position."}], "episode_index": 39}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/annotations.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b0146b3f46dfbf2ce3d73d40ed068e92b2eb3c66
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,40 @@
+{"source_uid": "7e673ad70dab6667", "num_frames": 1792, "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": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward to the natural resting position at the left side of the table. | Right hand: reach: Right hand moves downward and leftward from the right edge of the black table toward the blue building block on the table."}, {"label": "valid", "start_step": 0, "end_step": 1754, "id": "JPombVzQAdoO-98rHYp6f"}, {"label": "subtasks", "start_step": 30, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves downward and leftward from the right edge of the black table toward the blue building block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves leftward and downward toward the small green Lego block on the table."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the small green Lego block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers and makes slight adjustments to grasp the small green 1x1 block on the table."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the small green 1x1 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the small green 1x1 block upward from the table until the block completely leaves the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the small green 1x1 block in the air, moving it slightly leftward and downward while rotating the block slightly to adjust its orientation."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the small green 1x1 block downward onto the black table until the block is stably supported by the table."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the small green 1x1 block on the table, with fingers gradually opening and separating from the block."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the small green 1x1 block after releasing it."}, {"label": "subtasks", "start_step": 390, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and moves it above the larger green block."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place_mate: Right hand places the small green block onto the top of the larger green block and adjusts it for assembly alignment."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the small green block on top of the larger green block without moving."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the small green block on the black table, with fingers gradually opening to release the block."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand moves upward and rightward away from the green block on the table while empty."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves toward the blue 2x2 block on the table, approaching the block."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the blue 2x2 block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue 2x2 block on the table without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue 2x2 block on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the blue 2x2 block up from the dark table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the blue 2x2 block leftward and downward toward the green block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the blue 2x2 block onto the green block until it is stably supported."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue 2x2 block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the blue 2x2 block by opening its fingers."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the blue 2x2 block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves leftward and downward to approach the blue block stacked on top of the green block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the blue block stacked on the green block, with fingers adjusting to stably hold the block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue block stacked on the green block without moving."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the blue block, with fingers opening and fully separating from the block surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves rightward and upward to approach the orange block on the black surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the orange 2x2 block on the table, with slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the orange 2x2 block off the black table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the orange 2x2 block leftward and downward to above the green building block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the orange 2x2 block onto the top surface of the green block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: mate: Right hand adjusts the orange 2x2 block horizontally to align and mate with the adjacent blue block on the green base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the orange 2x2 block on the green block without moving."}, {"label": "subtasks", "start_step": 1582, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: press: Right hand presses the orange 2x2 block downward to fit it firmly onto the blocks below."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the orange 2x2 block, with fingers opening and separating from the block surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the orange block after releasing."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release_retreat: Right hand releases the orange block stacked on the green block and retreats rightward away from the block stack."}, {"label": "home", "start_step": 1755, "end_step": 1791, "id": "NRe5Icfbd2tZTGE_FBRNK"}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose with fingers extending and wrist rotating slightly. | Right hand: release_retreat: Right hand releases the orange block stacked on the green block and retreats rightward away from the block stack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose with fingers extending and wrist rotating slightly. | Right hand: idle: Right hand remains empty at the right edge of the table without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward to the natural resting position at the left side of the table. | Right hand: reach: Right hand moves downward and leftward from the right edge of the black table toward the blue building block on the table."}, {"label": "subtasks", "start_step": 30, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves downward and leftward from the right edge of the black table toward the blue building block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves leftward and downward toward the small green Lego block on the table."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the small green Lego block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers and makes slight adjustments to grasp the small green 1x1 block on the table."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the small green 1x1 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the small green 1x1 block upward from the table until the block completely leaves the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the small green 1x1 block in the air, moving it slightly leftward and downward while rotating the block slightly to adjust its orientation."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the small green 1x1 block downward onto the black table until the block is stably supported by the table."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the small green 1x1 block on the table, with fingers gradually opening and separating from the block."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the small green 1x1 block after releasing it."}, {"label": "subtasks", "start_step": 390, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and moves it above the larger green block."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place_mate: Right hand places the small green block onto the top of the larger green block and adjusts it for assembly alignment."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the small green block on top of the larger green block without moving."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the small green block on the black table, with fingers gradually opening to release the block."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand moves upward and rightward away from the green block on the table while empty."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves toward the blue 2x2 block on the table, approaching the block."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the blue 2x2 block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue 2x2 block on the table without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue 2x2 block on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the blue 2x2 block up from the dark table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the blue 2x2 block leftward and downward toward the green block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the blue 2x2 block onto the green block until it is stably supported."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue 2x2 block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the blue 2x2 block by opening its fingers."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the blue 2x2 block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves leftward and downward to approach the blue block stacked on top of the green block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the blue block stacked on the green block, with fingers adjusting to stably hold the block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue block stacked on the green block without moving."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the blue block, with fingers opening and fully separating from the block surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves rightward and upward to approach the orange block on the black surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the orange 2x2 block on the table, with slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the orange 2x2 block off the black table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the orange 2x2 block leftward and downward to above the green building block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the orange 2x2 block onto the top surface of the green block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: mate: Right hand adjusts the orange 2x2 block horizontally to align and mate with the adjacent blue block on the green base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the orange 2x2 block on the green block without moving."}, {"label": "subtasks", "start_step": 1582, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: press: Right hand presses the orange 2x2 block downward to fit it firmly onto the blocks below."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the orange 2x2 block, with fingers opening and separating from the block surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the orange block after releasing."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release_retreat: Right hand releases the orange block stacked on the green block and retreats rightward away from the block stack."}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose with fingers extending and wrist rotating slightly. | Right hand: release_retreat: Right hand releases the orange block stacked on the green block and retreats rightward away from the block stack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose with fingers extending and wrist rotating slightly. | Right hand: idle: Right hand remains empty at the right edge of the table without moving."}], "episode_index": 0}
+{"source_uid": "6129577630c79558", "num_frames": 1535, "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": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves toward the building blocks on the black table surface with fingers kept open. | Right hand: reach: Right hand moves toward the building blocks on the black table surface with fingers kept open."}, {"label": "valid", "start_step": 0, "end_step": 1496, "id": "6sKB4qKcpJi-KQQGKmbMR"}, {"label": "subtasks", "start_step": 90, "end_step": 367, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers and wrist to form a stable grasp on the small green block on the black table."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift: Right hand lifts the small green block off the black table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: transport: Right hand transports the small green block above the larger green block on the table."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand mates the small green block with the larger green block by aligning and pressing it down."}, {"label": "subtasks", "start_step": 420, "end_step": 591, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the green building block on the black table surface along the normal direction."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand moves towards the blue building block on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 697, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift_transport: Right hand lifts the blue block from the table and transports it above the stacked green blocks."}, {"label": "subtasks", "start_step": 742, "end_step": 891, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand aligns the blue block with the top of the stacked green blocks to prepare for assembly."}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the stacked green blocks to secure the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 981, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand moves towards the orange block placed on the table."}, {"label": "subtasks", "start_step": 982, "end_step": 1109, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift: Right hand lifts the grasped orange block off the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: transport: Right hand carries the orange block to move above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1185, "end_step": 1289, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand places the orange block on top of the green block and presses to align and assemble them."}, {"label": "subtasks", "start_step": 1290, "end_step": 1401, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand adjusts finger position and moves slowly towards the orange top block of the stacked building blocks."}, {"label": "subtasks", "start_step": 1402, "end_step": 1461, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the orange building block vertically downward to secure it on the stacked blocks."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: retreat: Right hand lifts off the orange block and moves backward away from the stacked building blocks."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00020", "text": "Left hand: return_home: Left empty hand moves back to its initial home position on the left side. | Right hand: return_home: Right empty hand moves back to its initial home position on the right side."}, {"label": "home", "start_step": 1497, "end_step": 1534, "id": "HksECnObdVBUhjoEhjodO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves toward the building blocks on the black table surface with fingers kept open. | Right hand: reach: Right hand moves toward the building blocks on the black table surface with fingers kept open."}, {"label": "subtasks", "start_step": 90, "end_step": 367, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers and wrist to form a stable grasp on the small green block on the black table."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift: Right hand lifts the small green block off the black table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: transport: Right hand transports the small green block above the larger green block on the table."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand mates the small green block with the larger green block by aligning and pressing it down."}, {"label": "subtasks", "start_step": 420, "end_step": 591, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the green building block on the black table surface along the normal direction."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand moves towards the blue building block on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 697, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift_transport: Right hand lifts the blue block from the table and transports it above the stacked green blocks."}, {"label": "subtasks", "start_step": 742, "end_step": 891, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand aligns the blue block with the top of the stacked green blocks to prepare for assembly."}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the stacked green blocks to secure the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 981, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand moves towards the orange block placed on the table."}, {"label": "subtasks", "start_step": 982, "end_step": 1109, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift: Right hand lifts the grasped orange block off the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: transport: Right hand carries the orange block to move above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1185, "end_step": 1289, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand places the orange block on top of the green block and presses to align and assemble them."}, {"label": "subtasks", "start_step": 1290, "end_step": 1401, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand adjusts finger position and moves slowly towards the orange top block of the stacked building blocks."}, {"label": "subtasks", "start_step": 1402, "end_step": 1461, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the orange building block vertically downward to secure it on the stacked blocks."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: retreat: Right hand lifts off the orange block and moves backward away from the stacked building blocks."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00020", "text": "Left hand: return_home: Left empty hand moves back to its initial home position on the left side. | Right hand: return_home: Right empty hand moves back to its initial home position on the right side."}], "episode_index": 1}
+{"source_uid": "89943de5b399f8a1", "num_frames": 1563, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1527, "id": "1LDGfSWHPGWOhmrNu6WKW"}, {"label": "subtasks", "start_step": 15, "end_step": 97, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from its initial right upper position toward the small green cubic Lego block on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 98, "end_step": 201, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around the small green cubic Lego block, making slight finger and wrist adjustments to establish a stable grasp while the block remains on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00003", "text": "Right hand: lift_transport: Right hand lifts the grasped small green cubic Lego block off the table surface, then moves it horizontally to position it above the long green rectangular Lego block."}, {"label": "subtasks", "start_step": 232, "end_step": 351, "id": "reasoning-language-00004", "text": "Right hand: mate: Right hand aligns the held small green cubic Lego block with the connection studs on the long green rectangular Lego block, pressing slightly to fit the two blocks into an assembled state."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00005", "text": "Right hand: release: Right hand opens its fingers to release the assembled small green Lego block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00006", "text": "Right hand: reach: Right hand moves right toward the blue building block on the dark flat surface, with fingers held open and extended."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand closes fingers around the blue building block, making small grip adjustments while the block remains resting on the dark surface."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00008", "text": "Right hand: lift_transport: Right hand lifts the grasped blue building block off the dark surface while moving left to carry the block toward the stacked green building blocks."}, {"label": "subtasks", "start_step": 480, "end_step": 539, "id": "reasoning-language-00009", "text": "Right hand: mate: Right hand aligns the held blue building block with the top of the green building block stack, pressing down to fit the blocks together in an assembled position."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00010", "text": "Right hand: hold: Right hand holds the blue building block fitted on top of the green stack without any visible movement."}, {"label": "subtasks", "start_step": 562, "end_step": 569, "id": "reasoning-language-00011", "text": "Right hand: release: Right hand opens fingers to release grip on the blue building block."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00012", "text": "Right hand: grasp: Right hand closes fingers to establish a stable grasp on the dark blue block placed next to the stacked green blocks."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Right hand: push_release: Right hand pushes the grasped blue block rightward across the table surface, then opens fingers to release the block onto the table."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00014", "text": "Right hand: retreat: Right hand moves empty upward and away from the released blue block on the table."}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00015", "text": "Right hand: reach_grasp: Right hand moves empty back down toward the blue block, then closes fingers to grasp the block with small finger adjustments for a secure hold."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00016", "text": "Right hand: reorient_release: Right hand rotates the grasped blue block approximately 90 degrees to turn its studded surface upward, then opens fingers to release the reoriented block onto the table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 831, "id": "reasoning-language-00017", "text": "Right hand: reach_grasp: Right hand moves toward the blue block resting on the dark table surface, closes fingers around the block and makes slight finger and wrist adjustments to form a stable grip, with the block remaining on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00018", "text": "Right hand: lift_transport: Right hand lifts the grasped blue block completely off the table surface, moving the block leftward toward the nearby long green block."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00019", "text": "Right hand: mate: Right hand lowers the blue block to the table surface, adjusting the block's position and orientation to align it flush against the side of the long green block."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00020", "text": "Right hand: hold: Right hand holds the aligned blue block steadily against the long green block on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00021", "text": "Right hand: release: Right hand opens fingers to release the grasped blue block, beginning to move away from the block's surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1147, "id": "reasoning-language-00022", "text": "Right hand: release: Right hand gradually opens its fingers to release the blue block attached to the stacked green block, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1148, "end_step": 1214, "id": "reasoning-language-00023", "text": "Right hand: reach: Right hand moves left across the dark table surface toward the small orange block, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 1215, "end_step": 1281, "id": "reasoning-language-00024", "text": "Right hand: grasp: Right hand adjusts its finger positions and closes fingers to establish a stable grasp on the orange block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00025", "text": "Right hand: lift: Right hand lifts the grasped orange block vertically upward until the block is completely separated from the dark work surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00026", "text": "Right hand: transport_place: Right hand moves the lifted orange block horizontally to a position above the stacked blocks and lowers the block to rest on the top surface of the underlying green block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1409, "id": "reasoning-language-00027", "text": "Right hand: mate: Right hand adjusts the position of the orange block to align and fit it properly with the underlying green block to form the assembly."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "text": "Right hand: release: Right hand opens its fingers gradually to release its grip on the assembled orange block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00029", "text": "Right hand: press: Right hand uses its extended index finger to apply downward vertical pressure on the top surface of the orange block to secure the assembly."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00030", "text": "Right hand: retreat: Right hand moves upward and backward while empty, moving away from the stacked building blocks on the dark table surface."}, {"label": "home", "start_step": 1528, "end_step": 1562, "id": "6c6_cl_1TIvZR7fof5GFT"}, {"label": "subtasks", "start_step": 1538, "end_step": 1562, "id": "reasoning-language-00031", "text": "Left hand: other:move_upward_backward: Left hand moves upward and backward while empty, with fingers spreading slightly as it moves. | Right hand: retreat: Right hand moves upward and backward while empty, moving away from the stacked building blocks on the dark table surface."}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 97, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from its initial right upper position toward the small green cubic Lego block on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 98, "end_step": 201, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around the small green cubic Lego block, making slight finger and wrist adjustments to establish a stable grasp while the block remains on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00003", "text": "Right hand: lift_transport: Right hand lifts the grasped small green cubic Lego block off the table surface, then moves it horizontally to position it above the long green rectangular Lego block."}, {"label": "subtasks", "start_step": 232, "end_step": 351, "id": "reasoning-language-00004", "text": "Right hand: mate: Right hand aligns the held small green cubic Lego block with the connection studs on the long green rectangular Lego block, pressing slightly to fit the two blocks into an assembled state."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00005", "text": "Right hand: release: Right hand opens its fingers to release the assembled small green Lego block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00006", "text": "Right hand: reach: Right hand moves right toward the blue building block on the dark flat surface, with fingers held open and extended."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand closes fingers around the blue building block, making small grip adjustments while the block remains resting on the dark surface."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00008", "text": "Right hand: lift_transport: Right hand lifts the grasped blue building block off the dark surface while moving left to carry the block toward the stacked green building blocks."}, {"label": "subtasks", "start_step": 480, "end_step": 539, "id": "reasoning-language-00009", "text": "Right hand: mate: Right hand aligns the held blue building block with the top of the green building block stack, pressing down to fit the blocks together in an assembled position."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00010", "text": "Right hand: hold: Right hand holds the blue building block fitted on top of the green stack without any visible movement."}, {"label": "subtasks", "start_step": 562, "end_step": 569, "id": "reasoning-language-00011", "text": "Right hand: release: Right hand opens fingers to release grip on the blue building block."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00012", "text": "Right hand: grasp: Right hand closes fingers to establish a stable grasp on the dark blue block placed next to the stacked green blocks."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Right hand: push_release: Right hand pushes the grasped blue block rightward across the table surface, then opens fingers to release the block onto the table."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00014", "text": "Right hand: retreat: Right hand moves empty upward and away from the released blue block on the table."}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00015", "text": "Right hand: reach_grasp: Right hand moves empty back down toward the blue block, then closes fingers to grasp the block with small finger adjustments for a secure hold."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00016", "text": "Right hand: reorient_release: Right hand rotates the grasped blue block approximately 90 degrees to turn its studded surface upward, then opens fingers to release the reoriented block onto the table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 831, "id": "reasoning-language-00017", "text": "Right hand: reach_grasp: Right hand moves toward the blue block resting on the dark table surface, closes fingers around the block and makes slight finger and wrist adjustments to form a stable grip, with the block remaining on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00018", "text": "Right hand: lift_transport: Right hand lifts the grasped blue block completely off the table surface, moving the block leftward toward the nearby long green block."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00019", "text": "Right hand: mate: Right hand lowers the blue block to the table surface, adjusting the block's position and orientation to align it flush against the side of the long green block."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00020", "text": "Right hand: hold: Right hand holds the aligned blue block steadily against the long green block on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00021", "text": "Right hand: release: Right hand opens fingers to release the grasped blue block, beginning to move away from the block's surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1147, "id": "reasoning-language-00022", "text": "Right hand: release: Right hand gradually opens its fingers to release the blue block attached to the stacked green block, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1148, "end_step": 1214, "id": "reasoning-language-00023", "text": "Right hand: reach: Right hand moves left across the dark table surface toward the small orange block, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 1215, "end_step": 1281, "id": "reasoning-language-00024", "text": "Right hand: grasp: Right hand adjusts its finger positions and closes fingers to establish a stable grasp on the orange block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00025", "text": "Right hand: lift: Right hand lifts the grasped orange block vertically upward until the block is completely separated from the dark work surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00026", "text": "Right hand: transport_place: Right hand moves the lifted orange block horizontally to a position above the stacked blocks and lowers the block to rest on the top surface of the underlying green block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1409, "id": "reasoning-language-00027", "text": "Right hand: mate: Right hand adjusts the position of the orange block to align and fit it properly with the underlying green block to form the assembly."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "text": "Right hand: release: Right hand opens its fingers gradually to release its grip on the assembled orange block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00029", "text": "Right hand: press: Right hand uses its extended index finger to apply downward vertical pressure on the top surface of the orange block to secure the assembly."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00030", "text": "Right hand: retreat: Right hand moves upward and backward while empty, moving away from the stacked building blocks on the dark table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1562, "id": "reasoning-language-00031", "text": "Left hand: other:move_upward_backward: Left hand moves upward and backward while empty, with fingers spreading slightly as it moves. | Right hand: retreat: Right hand moves upward and backward while empty, moving away from the stacked building blocks on the dark table surface."}], "episode_index": 2}
+{"source_uid": "5a7a599942172c4e", "num_frames": 3340, "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": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from its initial raised position, empty with fingers extended, approaching the small blue lego block resting on the right area of the black table surface."}, {"label": "valid", "start_step": 0, "end_step": 3300, "id": "cI1PVw6GWn0iJLFO9hNfK"}, {"label": "subtasks", "start_step": 90, "end_step": 427, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the small blue lego block, repeatedly adjusts finger positions and gradually closes fingers to form a stable grip on the block, which stays on the table surface during this period."}, {"label": "subtasks", "start_step": 428, "end_step": 561, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped blue lego block completely off the table surface, then moves the block downward and leftward to the area adjacent to the small orange lego block."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: place: Right hand lowers the grasped blue lego block until it rests stably on the table surface next to the orange lego block, with the block supported by the table."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: reach: Right hand moves left across the dark table surface toward the small green lego block, staying empty without touching any objects during movement."}, {"label": "subtasks", "start_step": 668, "end_step": 861, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the small green lego block on the table, closing fingers gradually to form a stable grip on the block."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the small green lego block upward, raising it until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted small green lego block upward and slightly rightward to a stationary position in the air above the table."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: hold: Right hand holds the small green lego block motionless in the air, with no visible movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: place: Right hand moves the small green lego block downward and slightly leftward toward the table surface to position it for placement."}, {"label": "subtasks", "start_step": 1020, "end_step": 1191, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes around the small green lego block resting on the dark table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1192, "end_step": 1207, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the small green lego block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1289, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: transport: Right hand carries the small green lego block leftward through the air toward the left hand."}, {"label": "subtasks", "start_step": 1290, "end_step": 1297, "id": "reasoning-language-00014", "text": "Left hand: reach_grasp: Left hand moves rightward toward the small green lego block held by the right hand, adjusts its fingers and closes around the block to establish a stable grasp. | Right hand: transport: Right hand carries the small green lego block leftward through the air toward the left hand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1431, "id": "reasoning-language-00015", "text": "Left hand: reach_grasp: Left hand moves rightward toward the small green lego block held by the right hand, adjusts its fingers and closes around the block to establish a stable grasp. | Right hand: hold: Right hand holds the small green lego block steadily in the space between the two hands without noticeable movement."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the small green lego block steadily without noticeable movement as the right hand releases the block. | Right hand: release: Right hand opens its fingers to release the small green lego block, separating from the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00017", "text": "Left hand: place: Left hand holds the small green lego block, moves downward, and places it onto the dark gray table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1515, "end_step": 1589, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the small green lego block resting on the dark gray table surface without any visible movement. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00019", "text": "Left hand: lift: Left hand holds the small green lego block and moves upward to lift it off the dark gray table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1620, "end_step": 1709, "id": "reasoning-language-00020", "text": "Left hand: lift_transport: Left hand lifts the small green lego block off the dark table surface, then transports the block upward and rightward to the position between the two hands. | Right hand: reach: Right hand moves leftward from its initial position near the blue lego block with fingers extended, approaching the small green lego block held by the left hand."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the small green lego block steadily between the two hands without any visible movement of the hand or the block. | Right hand: reach: Right hand moves leftward from its initial position near the blue lego block with fingers extended, approaching the small green lego block held by the left hand."}, {"label": "subtasks", "start_step": 1725, "end_step": 1889, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the small green lego block steadily between the two hands without any visible movement of the hand or the block. | Right hand: grasp: Right hand gradually closes its fingers and adjusts contact points around the small green lego block to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand opens its fingers to release the small green lego block, fully separating from the block by the end of the segment. | Right hand: grasp: Right hand gradually closes its fingers and adjusts contact points around the small green lego block to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1971, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand holds the small green lego block and moves it downward toward the larger green lego block on the black work surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2121, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes small adjustments to its finger grip and the position of the small green lego block resting on the larger green lego block."}, {"label": "subtasks", "start_step": 2122, "end_step": 2219, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the small green lego block steadily on the larger green lego block with no observable movement of the hand, fingers or blocks."}, {"label": "subtasks", "start_step": 2220, "end_step": 2339, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: press: Right hand adjusts its finger position and presses down on the top surface of the small green lego block."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty toward the small blue lego block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2579, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions repeatedly to close around the small blue lego block and establish a stable grip."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped small blue lego block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2654, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the grasped small blue lego block leftward and downward toward the green lego block on the table."}, {"label": "subtasks", "start_step": 2655, "end_step": 2834, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the position of the grasped small blue lego block to align it with the green lego block for assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves toward the small orange lego block on the dark table surface with fingers slightly spread, approaching the target without making contact."}, {"label": "subtasks", "start_step": 2865, "end_step": 3021, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the small orange lego block, making slight adjustments to finger positions to form a stable grasp while the block remains resting on the table."}, {"label": "subtasks", "start_step": 3022, "end_step": 3044, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand moves the grasped small orange lego block vertically upward, lifting the block completely off the dark table surface."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport_place: Right hand moves the grasped small orange lego block leftward to a position above the stacked green and blue lego blocks, lowers the block to rest on the top surface of the blue lego block, supported by the underlying stacked blocks."}, {"label": "subtasks", "start_step": 3060, "end_step": 3074, "id": "reasoning-language-00037", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts finger posture, curling the extended index finger inward to align with other curled fingers. | Right hand: transport_place: Right hand moves the grasped small orange lego block leftward to a position above the stacked green and blue lego blocks, lowers the block to rest on the top surface of the blue lego block, supported by the underlying stacked blocks."}, {"label": "subtasks", "start_step": 3075, "end_step": 3171, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: hold: Right hand holds the small orange lego block steady on top of the stacked green and blue lego blocks, with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 3172, "end_step": 3187, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: release: Right hand opens fingers to release the grasp on the small orange lego block, separating fingers from the block surface."}, {"label": "subtasks", "start_step": 3188, "end_step": 3217, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: idle: Right hand remains empty above the stacked lego blocks with fingers spread, no observable movement."}, {"label": "subtasks", "start_step": 3218, "end_step": 3261, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: press: Right hand presses a finger vertically downward against the top surface of the placed small orange lego block to apply pressure."}, {"label": "subtasks", "start_step": 3262, "end_step": 3269, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: retreat: Right hand lifts the finger off the top surface of the orange lego block, moving slightly upward away from the block."}, {"label": "subtasks", "start_step": 3270, "end_step": 3329, "id": "reasoning-language-00043", "text": "Left hand: return_home: Left hand moves upward back to the home position, with fingers gradually extending, remaining empty throughout the movement. | Right hand: release_return_home: Right hand opens fingers to release the top orange lego block, and moves upward back to the home position."}, {"label": "home", "start_step": 3301, "end_step": 3339, "id": "eGmp5g-SlEs4_FC3Rd1EI"}, {"label": "subtasks", "start_step": 3330, "end_step": 3339, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the home position with extended fingers without moving. | Right hand: idle: Right hand remains empty at the home position without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from its initial raised position, empty with fingers extended, approaching the small blue lego block resting on the right area of the black table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 427, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the small blue lego block, repeatedly adjusts finger positions and gradually closes fingers to form a stable grip on the block, which stays on the table surface during this period."}, {"label": "subtasks", "start_step": 428, "end_step": 561, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped blue lego block completely off the table surface, then moves the block downward and leftward to the area adjacent to the small orange lego block."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: place: Right hand lowers the grasped blue lego block until it rests stably on the table surface next to the orange lego block, with the block supported by the table."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: reach: Right hand moves left across the dark table surface toward the small green lego block, staying empty without touching any objects during movement."}, {"label": "subtasks", "start_step": 668, "end_step": 861, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the small green lego block on the table, closing fingers gradually to form a stable grip on the block."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the small green lego block upward, raising it until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted small green lego block upward and slightly rightward to a stationary position in the air above the table."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: hold: Right hand holds the small green lego block motionless in the air, with no visible movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: place: Right hand moves the small green lego block downward and slightly leftward toward the table surface to position it for placement."}, {"label": "subtasks", "start_step": 1020, "end_step": 1191, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes around the small green lego block resting on the dark table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1192, "end_step": 1207, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the small green lego block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1289, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: transport: Right hand carries the small green lego block leftward through the air toward the left hand."}, {"label": "subtasks", "start_step": 1290, "end_step": 1297, "id": "reasoning-language-00014", "text": "Left hand: reach_grasp: Left hand moves rightward toward the small green lego block held by the right hand, adjusts its fingers and closes around the block to establish a stable grasp. | Right hand: transport: Right hand carries the small green lego block leftward through the air toward the left hand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1431, "id": "reasoning-language-00015", "text": "Left hand: reach_grasp: Left hand moves rightward toward the small green lego block held by the right hand, adjusts its fingers and closes around the block to establish a stable grasp. | Right hand: hold: Right hand holds the small green lego block steadily in the space between the two hands without noticeable movement."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the small green lego block steadily without noticeable movement as the right hand releases the block. | Right hand: release: Right hand opens its fingers to release the small green lego block, separating from the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00017", "text": "Left hand: place: Left hand holds the small green lego block, moves downward, and places it onto the dark gray table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1515, "end_step": 1589, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the small green lego block resting on the dark gray table surface without any visible movement. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00019", "text": "Left hand: lift: Left hand holds the small green lego block and moves upward to lift it off the dark gray table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1620, "end_step": 1709, "id": "reasoning-language-00020", "text": "Left hand: lift_transport: Left hand lifts the small green lego block off the dark table surface, then transports the block upward and rightward to the position between the two hands. | Right hand: reach: Right hand moves leftward from its initial position near the blue lego block with fingers extended, approaching the small green lego block held by the left hand."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the small green lego block steadily between the two hands without any visible movement of the hand or the block. | Right hand: reach: Right hand moves leftward from its initial position near the blue lego block with fingers extended, approaching the small green lego block held by the left hand."}, {"label": "subtasks", "start_step": 1725, "end_step": 1889, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the small green lego block steadily between the two hands without any visible movement of the hand or the block. | Right hand: grasp: Right hand gradually closes its fingers and adjusts contact points around the small green lego block to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand opens its fingers to release the small green lego block, fully separating from the block by the end of the segment. | Right hand: grasp: Right hand gradually closes its fingers and adjusts contact points around the small green lego block to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1971, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand holds the small green lego block and moves it downward toward the larger green lego block on the black work surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2121, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes small adjustments to its finger grip and the position of the small green lego block resting on the larger green lego block."}, {"label": "subtasks", "start_step": 2122, "end_step": 2219, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the small green lego block steadily on the larger green lego block with no observable movement of the hand, fingers or blocks."}, {"label": "subtasks", "start_step": 2220, "end_step": 2339, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: press: Right hand adjusts its finger position and presses down on the top surface of the small green lego block."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty toward the small blue lego block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2579, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions repeatedly to close around the small blue lego block and establish a stable grip."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped small blue lego block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2654, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the grasped small blue lego block leftward and downward toward the green lego block on the table."}, {"label": "subtasks", "start_step": 2655, "end_step": 2834, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the position of the grasped small blue lego block to align it with the green lego block for assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves toward the small orange lego block on the dark table surface with fingers slightly spread, approaching the target without making contact."}, {"label": "subtasks", "start_step": 2865, "end_step": 3021, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the small orange lego block, making slight adjustments to finger positions to form a stable grasp while the block remains resting on the table."}, {"label": "subtasks", "start_step": 3022, "end_step": 3044, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand moves the grasped small orange lego block vertically upward, lifting the block completely off the dark table surface."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport_place: Right hand moves the grasped small orange lego block leftward to a position above the stacked green and blue lego blocks, lowers the block to rest on the top surface of the blue lego block, supported by the underlying stacked blocks."}, {"label": "subtasks", "start_step": 3060, "end_step": 3074, "id": "reasoning-language-00037", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts finger posture, curling the extended index finger inward to align with other curled fingers. | Right hand: transport_place: Right hand moves the grasped small orange lego block leftward to a position above the stacked green and blue lego blocks, lowers the block to rest on the top surface of the blue lego block, supported by the underlying stacked blocks."}, {"label": "subtasks", "start_step": 3075, "end_step": 3171, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: hold: Right hand holds the small orange lego block steady on top of the stacked green and blue lego blocks, with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 3172, "end_step": 3187, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: release: Right hand opens fingers to release the grasp on the small orange lego block, separating fingers from the block surface."}, {"label": "subtasks", "start_step": 3188, "end_step": 3217, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: idle: Right hand remains empty above the stacked lego blocks with fingers spread, no observable movement."}, {"label": "subtasks", "start_step": 3218, "end_step": 3261, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: press: Right hand presses a finger vertically downward against the top surface of the placed small orange lego block to apply pressure."}, {"label": "subtasks", "start_step": 3262, "end_step": 3269, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: retreat: Right hand lifts the finger off the top surface of the orange lego block, moving slightly upward away from the block."}, {"label": "subtasks", "start_step": 3270, "end_step": 3329, "id": "reasoning-language-00043", "text": "Left hand: return_home: Left hand moves upward back to the home position, with fingers gradually extending, remaining empty throughout the movement. | Right hand: release_return_home: Right hand opens fingers to release the top orange lego block, and moves upward back to the home position."}, {"label": "subtasks", "start_step": 3330, "end_step": 3339, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the home position with extended fingers without moving. | Right hand: idle: Right hand remains empty at the home position without moving."}], "episode_index": 3}
+{"source_uid": "526de8d1f899b779", "num_frames": 1602, "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": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its hand posture with fingers opening at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block located in the middle of the black table."}, {"label": "valid", "start_step": 0, "end_step": 1558, "id": "BB4H3thsapmBydQ1APQfo"}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block located in the middle of the black table."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue block on the black table."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts finger positions to establish stable grasp on the small green block on the black table."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift: Right hand lifts the grasped small green block away from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the green block on the black table, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the orange block on the black tabletop."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach_grasp: Right hand reaches for and grasps the blue block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: push: Right hand pushes the blue block towards the green block on the black table."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reorient: Right hand flips the blue block to adjust its orientation on the dark table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift_transport: Right hand lifts the blue block from the table and transports it above the green block."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: place: Right hand places the blue block onto the top of the green block."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the blue block."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: transport: Right hand holds the blue block and moves it rightwards in the air."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: place_release: Right hand places the blue block on the black table then releases it, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block on the black table."}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the blue block placed on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: transport: Right hand moves the grasped blue block towards the green block on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the green-blue stacked block on the table, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the orange block on the table, remaining empty during movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand grasps the orange block on the table, fingers close to contact the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the orange block on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift_transport: Right hand lifts the orange block from the table and transports it towards the green and blue stacked block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: mate: Right hand aligns and places the orange block onto the top of the green and blue stacked block to complete assembly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1537, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the stacked colorful building blocks on the black table, with fingers gradually opening to detach from the blocks."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: retreat: Right hand retreats away from the stacked building blocks after releasing the grip."}, {"label": "home", "start_step": 1559, "end_step": 1601, "id": "sa_TlT1hibQBWt8xsynVC"}, {"label": "subtasks", "start_step": 1560, "end_step": 1601, "id": "reasoning-language-00033", "text": "Left hand: return_home: Left hand retracts and stops at its initial position on the left side of the table. | Right hand: return_home: Right hand retracts and stops at its initial position on the right side of the table."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its hand posture with fingers opening at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block located in the middle of the black table."}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block located in the middle of the black table."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue block on the black table."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts finger positions to establish stable grasp on the small green block on the black table."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift: Right hand lifts the grasped small green block away from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the green block on the black table, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the orange block on the black tabletop."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach_grasp: Right hand reaches for and grasps the blue block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: push: Right hand pushes the blue block towards the green block on the black table."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reorient: Right hand flips the blue block to adjust its orientation on the dark table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift_transport: Right hand lifts the blue block from the table and transports it above the green block."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: place: Right hand places the blue block onto the top of the green block."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the blue block."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: transport: Right hand holds the blue block and moves it rightwards in the air."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: place_release: Right hand places the blue block on the black table then releases it, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block on the black table."}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the blue block placed on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: transport: Right hand moves the grasped blue block towards the green block on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the green-blue stacked block on the table, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the orange block on the table, remaining empty during movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand grasps the orange block on the table, fingers close to contact the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the orange block on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift_transport: Right hand lifts the orange block from the table and transports it towards the green and blue stacked block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: mate: Right hand aligns and places the orange block onto the top of the green and blue stacked block to complete assembly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1537, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the stacked colorful building blocks on the black table, with fingers gradually opening to detach from the blocks."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: retreat: Right hand retreats away from the stacked building blocks after releasing the grip."}, {"label": "subtasks", "start_step": 1560, "end_step": 1601, "id": "reasoning-language-00033", "text": "Left hand: return_home: Left hand retracts and stops at its initial position on the left side of the table. | Right hand: return_home: Right hand retracts and stops at its initial position on the right side of the table."}], "episode_index": 4}
+{"source_uid": "54a9c680d5ee86a0", "num_frames": 1671, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1635, "id": "UlNzEDxUg74FCVo1eaWET"}, {"label": "subtasks", "start_step": 15, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger and wrist posture above the left side of the table, without contacting any objects. | Right hand: reach: Right hand moves downward toward the Lego bricks placed on the central table area, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 52, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves downward toward the Lego bricks placed on the central table area, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand makes minor continuous adjustments to its finger positions around the adjacent blue and small green Lego bricks to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand stays in contact with the small green 2x2 plastic block on the dark flat surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: other:nudge_block: Right hand moves its fingers to nudge the small green 2x2 plastic block, causing the block to shift slightly across the dark flat surface."}, {"label": "subtasks", "start_step": 240, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand remains in contact with the small green 2x2 plastic block, with no visible movement of the hand or the block on the dark flat surface."}, {"label": "subtasks", "start_step": 352, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: other:nudge_block: Right hand moves its fingers to nudge the small green 2x2 plastic block, adjusting the block's position with small shifts across the dark flat surface."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls fingers to close around the small 2x2 light green lego block on the black work surface, making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_transport: Right hand lifts the gripped small 2x2 light green lego block completely off the black work surface and moves it horizontally toward the nearby cluster of lego pieces."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: place: Right hand lowers the small 2x2 light green lego block and sets it onto the top surface of the longer light green lego block until the block is supported by the longer piece."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand holds the small 2x2 light green lego block on top of the longer light green lego block without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 525, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: mate_release: Right hand makes small finger and wrist adjustments to align the small 2x2 light green lego block with the longer green lego block beneath it, releasing contact with the aligned block."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: retreat: Right hand moves empty upward and slightly left away from the stacked green lego blocks."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves empty downward toward the blue 2x2 lego block resting on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 675, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls its fingers to adjust contact and establish a stable grasp on the blue 2x2 lego block resting on the dark table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_transport: Right hand lifts the grasped blue 2x2 lego block completely off the dark table surface and moves it toward the area next to the green lego block."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: place: Right hand lowers the grasped blue 2x2 lego block down to the dark table surface adjacent to the green lego block, positioning it to rest stably on the surface."}, {"label": "subtasks", "start_step": 825, "end_step": 951, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand adjusts finger positions on the blue 2x2 lego block to establish a stable grip, with small finger movements to reposition contact points."}, {"label": "subtasks", "start_step": 952, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: push: Right hand pushes the blue 2x2 lego block to slide across the dark table surface toward the adjacent green lego block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1199, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: press: Right hand presses down on the blue 2x2 lego block against the table surface to fine-tune its final position next to the green lego block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves right toward the orange 2x2 lego block on the dark work surface, with fingers held slightly open during the movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1379, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand makes small continuous adjustments to finger positions and wrist orientation to establish and stabilize contact with the orange 2x2 lego block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls fingers around the orange 2x2 lego block on the dark table surface, adjusting grip to form a stable hold on the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_place: Right hand lifts the orange 2x2 lego block off the dark table surface, shifts it a short distance left to rest on top of the stacked green and blue lego blocks."}, {"label": "subtasks", "start_step": 1432, "end_step": 1529, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: mate: Right hand adjusts the orange lego block on the stacked blocks with slight wiggling motions to align its connection points with the blocks below for assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: release_retreat: Right hand opens fingers to release grasp on the orange lego block, moves a short distance upward away from the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach_press: Right hand moves down to the orange lego block, applies downward pressure on the block's top surface to secure it to the stacked blocks below."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: retreat: Right hand lifts its finger off the orange lego block's top surface, moves upward away from the assembled lego stack."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: return_home: Left hand stays empty, moves upward and backward toward its initial raised position on the left, with fingers adjusting to an extended open posture during the movement. | Right hand: return_home: Right hand stays empty, moves upward and backward toward its initial raised position on the right, with fingers adjusting to an extended open posture during the movement."}, {"label": "home", "start_step": 1636, "end_step": 1670, "id": "3IDz5u1pkLxn2bUbz8mPJ"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger and wrist posture above the left side of the table, without contacting any objects. | Right hand: reach: Right hand moves downward toward the Lego bricks placed on the central table area, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 52, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves downward toward the Lego bricks placed on the central table area, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand makes minor continuous adjustments to its finger positions around the adjacent blue and small green Lego bricks to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand stays in contact with the small green 2x2 plastic block on the dark flat surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: other:nudge_block: Right hand moves its fingers to nudge the small green 2x2 plastic block, causing the block to shift slightly across the dark flat surface."}, {"label": "subtasks", "start_step": 240, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand remains in contact with the small green 2x2 plastic block, with no visible movement of the hand or the block on the dark flat surface."}, {"label": "subtasks", "start_step": 352, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: other:nudge_block: Right hand moves its fingers to nudge the small green 2x2 plastic block, adjusting the block's position with small shifts across the dark flat surface."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls fingers to close around the small 2x2 light green lego block on the black work surface, making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_transport: Right hand lifts the gripped small 2x2 light green lego block completely off the black work surface and moves it horizontally toward the nearby cluster of lego pieces."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: place: Right hand lowers the small 2x2 light green lego block and sets it onto the top surface of the longer light green lego block until the block is supported by the longer piece."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand holds the small 2x2 light green lego block on top of the longer light green lego block without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 525, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: mate_release: Right hand makes small finger and wrist adjustments to align the small 2x2 light green lego block with the longer green lego block beneath it, releasing contact with the aligned block."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: retreat: Right hand moves empty upward and slightly left away from the stacked green lego blocks."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves empty downward toward the blue 2x2 lego block resting on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 675, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls its fingers to adjust contact and establish a stable grasp on the blue 2x2 lego block resting on the dark table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_transport: Right hand lifts the grasped blue 2x2 lego block completely off the dark table surface and moves it toward the area next to the green lego block."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: place: Right hand lowers the grasped blue 2x2 lego block down to the dark table surface adjacent to the green lego block, positioning it to rest stably on the surface."}, {"label": "subtasks", "start_step": 825, "end_step": 951, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand adjusts finger positions on the blue 2x2 lego block to establish a stable grip, with small finger movements to reposition contact points."}, {"label": "subtasks", "start_step": 952, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: push: Right hand pushes the blue 2x2 lego block to slide across the dark table surface toward the adjacent green lego block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1199, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: press: Right hand presses down on the blue 2x2 lego block against the table surface to fine-tune its final position next to the green lego block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves right toward the orange 2x2 lego block on the dark work surface, with fingers held slightly open during the movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1379, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand makes small continuous adjustments to finger positions and wrist orientation to establish and stabilize contact with the orange 2x2 lego block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls fingers around the orange 2x2 lego block on the dark table surface, adjusting grip to form a stable hold on the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_place: Right hand lifts the orange 2x2 lego block off the dark table surface, shifts it a short distance left to rest on top of the stacked green and blue lego blocks."}, {"label": "subtasks", "start_step": 1432, "end_step": 1529, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: mate: Right hand adjusts the orange lego block on the stacked blocks with slight wiggling motions to align its connection points with the blocks below for assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: release_retreat: Right hand opens fingers to release grasp on the orange lego block, moves a short distance upward away from the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach_press: Right hand moves down to the orange lego block, applies downward pressure on the block's top surface to secure it to the stacked blocks below."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: retreat: Right hand lifts its finger off the orange lego block's top surface, moves upward away from the assembled lego stack."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: return_home: Left hand stays empty, moves upward and backward toward its initial raised position on the left, with fingers adjusting to an extended open posture during the movement. | Right hand: return_home: Right hand stays empty, moves upward and backward toward its initial raised position on the right, with fingers adjusting to an extended open posture during the movement."}], "episode_index": 5}
+{"source_uid": "324d7ee9553d8197", "num_frames": 1161, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1121, "id": "hcHrs_Se6UrnseLwKbI--"}, {"label": "subtasks", "start_step": 15, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:minor_finger_adjustment: Left hand makes minor positional adjustments to its fingers while remaining stationary in the upper left area, making no contact with any objects. | Right hand: reach: Right hand moves downward toward the small green lego block placed on the dark table surface, with fingers held in an open position."}, {"label": "subtasks", "start_step": 30, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach: Right hand moves downward toward the small green lego block placed on the dark table surface, with fingers held in an open position."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: grasp: Right hand makes fine finger adjustments to close around and form a grip on the small green lego block that remains resting on the table."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift: Right hand moves upward while securely holding the small green lego block, lifting the block fully off the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: transport_place: Right hand holds the small green 2x2 lego brick, moves it slightly down and right, and places it onto the larger green lego brick resting on the dark flat surface."}, {"label": "subtasks", "start_step": 292, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: hold: Right hand holds the small green 2x2 lego brick steadily on top of the larger green lego brick with no observable movement of the hand or the bricks."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: release: Right hand opens fingers to release the small green 2x2 lego brick, with the index finger lifting slightly away from the brick's top surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach: Right hand moves while empty toward the small blue 2x2 lego brick on the dark gray surface, without making contact with the brick."}, {"label": "subtasks", "start_step": 435, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the small blue 2x2 lego brick, forming a stable grasp while the brick remains resting on the dark surface."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift: Right hand lifts the grasped blue 2x2 lego brick upward, fully lifting the brick off the dark supporting surface."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: transport: Right hand carries the lifted blue lego brick leftward through the air, moving it to the position directly above the adjacent green lego brick."}, {"label": "subtasks", "start_step": 600, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: mate_release: Right hand aligns the held blue 2x2 lego brick with the green lego brick below, presses downward to fit the two bricks together into a connected assembly, opens fingers to release the assembled blue brick and separates from the brick surface."}, {"label": "subtasks", "start_step": 705, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach_grasp: Right hand moves toward the small orange 2x2 lego brick resting on the dark flat surface, closes fingers around the brick while making slight adjustments to finger positions and wrist posture to form a stable grasp, with the brick remaining on the dark support surface."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped small orange 2x2 lego brick completely off the dark support surface, moves it leftward toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: place: Right hand lowers the small orange 2x2 lego brick onto the top surface of the stacked blue and green lego bricks until the brick is stably supported by the target structure."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: hold: Right hand holds the small orange 2x2 lego brick steadily on top of the stacked blue and green lego bricks, with no observable movement of the hand or the brick."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: release: Right hand releases the stacked lego blocks on the dark flat surface, with fingers adjusting position around the stack, the index finger applying light pressure to the top orange lego brick, and fingers opening to separate from the lego stack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: return_home: Right hand moves upward and backward from the position above the lego stack back to its right-side home position, and stops steadily at the home position."}, {"label": "home", "start_step": 1122, "end_step": 1160, "id": "TkQt-vMUyNZAjawFP6tG7"}, {"label": "subtasks", "start_step": 1132, "end_step": 1160, "id": "reasoning-language-00019", "text": "Left hand: return_home: Left hand moves downward from the upper left position back to its left-side home position, with fingers slightly spreading, and stops steadily at the home position. | Right hand: return_home: Right hand moves upward and backward from the position above the lego stack back to its right-side home position, and stops steadily at the home position."}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:minor_finger_adjustment: Left hand makes minor positional adjustments to its fingers while remaining stationary in the upper left area, making no contact with any objects. | Right hand: reach: Right hand moves downward toward the small green lego block placed on the dark table surface, with fingers held in an open position."}, {"label": "subtasks", "start_step": 30, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach: Right hand moves downward toward the small green lego block placed on the dark table surface, with fingers held in an open position."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: grasp: Right hand makes fine finger adjustments to close around and form a grip on the small green lego block that remains resting on the table."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift: Right hand moves upward while securely holding the small green lego block, lifting the block fully off the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: transport_place: Right hand holds the small green 2x2 lego brick, moves it slightly down and right, and places it onto the larger green lego brick resting on the dark flat surface."}, {"label": "subtasks", "start_step": 292, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: hold: Right hand holds the small green 2x2 lego brick steadily on top of the larger green lego brick with no observable movement of the hand or the bricks."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: release: Right hand opens fingers to release the small green 2x2 lego brick, with the index finger lifting slightly away from the brick's top surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach: Right hand moves while empty toward the small blue 2x2 lego brick on the dark gray surface, without making contact with the brick."}, {"label": "subtasks", "start_step": 435, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the small blue 2x2 lego brick, forming a stable grasp while the brick remains resting on the dark surface."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift: Right hand lifts the grasped blue 2x2 lego brick upward, fully lifting the brick off the dark supporting surface."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: transport: Right hand carries the lifted blue lego brick leftward through the air, moving it to the position directly above the adjacent green lego brick."}, {"label": "subtasks", "start_step": 600, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: mate_release: Right hand aligns the held blue 2x2 lego brick with the green lego brick below, presses downward to fit the two bricks together into a connected assembly, opens fingers to release the assembled blue brick and separates from the brick surface."}, {"label": "subtasks", "start_step": 705, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach_grasp: Right hand moves toward the small orange 2x2 lego brick resting on the dark flat surface, closes fingers around the brick while making slight adjustments to finger positions and wrist posture to form a stable grasp, with the brick remaining on the dark support surface."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped small orange 2x2 lego brick completely off the dark support surface, moves it leftward toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: place: Right hand lowers the small orange 2x2 lego brick onto the top surface of the stacked blue and green lego bricks until the brick is stably supported by the target structure."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: hold: Right hand holds the small orange 2x2 lego brick steadily on top of the stacked blue and green lego bricks, with no observable movement of the hand or the brick."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: release: Right hand releases the stacked lego blocks on the dark flat surface, with fingers adjusting position around the stack, the index finger applying light pressure to the top orange lego brick, and fingers opening to separate from the lego stack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: return_home: Right hand moves upward and backward from the position above the lego stack back to its right-side home position, and stops steadily at the home position."}, {"label": "subtasks", "start_step": 1132, "end_step": 1160, "id": "reasoning-language-00019", "text": "Left hand: return_home: Left hand moves downward from the upper left position back to its left-side home position, with fingers slightly spreading, and stops steadily at the home position. | Right hand: return_home: Right hand moves upward and backward from the position above the lego stack back to its right-side home position, and stops steadily at the home position."}], "episode_index": 6}
+{"source_uid": "2aa2fca4a46fe51d", "num_frames": 1698, "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": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the small green block on the black table."}, {"label": "valid", "start_step": 0, "end_step": 1664, "id": "p1eW6UDqEPr-jWQR65XeF"}, {"label": "subtasks", "start_step": 98, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the small green block on the black table."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green block away from the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand carries the small green block and moves toward the left side of the table."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: reach: Left hand moves toward the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block steadily without obvious movement."}, {"label": "subtasks", "start_step": 308, "end_step": 427, "id": "reasoning-language-00006", "text": "Left hand: grasp: Left hand adjusts fingers and closes to grasp the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block steadily without obvious movement."}, {"label": "subtasks", "start_step": 428, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand adjusts fingers and closes to grasp the small green block held by the right hand. | Right hand: release: Right hand releases the small green block, separating fingers from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: place: Left hand moves downward to place the small green block onto the table surface. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: release: Left hand opens fingers to release the small green block, separating from the block. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: retreat: Left hand moves upward away from the placed small green block. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00011", "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 small green block on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 621, "id": "reasoning-language-00012", "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 around the small green block and makes slight adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 622, "end_step": 727, "id": "reasoning-language-00013", "text": "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 block from the table and transports it above the long green block."}, {"label": "subtasks", "start_step": 728, "end_step": 907, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the position of the small green block to align it with the top surface of the long green block for assembly."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00015", "text": "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 block onto the top of the long green block."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens its fingers to release the small green block."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00017", "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 blue block placed on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift: Right hand lifts the blue block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1207, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand moves the held blue block toward the green block on the table."}, {"label": "subtasks", "start_step": 1208, "end_step": 1297, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand assembles the blue block onto the top of the green block by pressing slightly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the blue block, with fingers separating from the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00023", "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 block on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand closes fingers around the orange block, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00025", "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 block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand carries the orange block leftward toward the green-blue block on the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00027", "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 block onto the top of the green-blue block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1551, "id": "reasoning-language-00028", "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 block down to mate with the green-blue block below."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens fingers to release the orange block."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves away from the assembled blocks toward the right side."}, {"label": "subtasks", "start_step": 1650, "end_step": 1697, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving."}, {"label": "home", "start_step": 1665, "end_step": 1697, "id": "pz_gtEFEk8ptUr7DiE-5n"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the small green block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the small green block on the black table."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green block away from the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand carries the small green block and moves toward the left side of the table."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: reach: Left hand moves toward the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block steadily without obvious movement."}, {"label": "subtasks", "start_step": 308, "end_step": 427, "id": "reasoning-language-00006", "text": "Left hand: grasp: Left hand adjusts fingers and closes to grasp the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block steadily without obvious movement."}, {"label": "subtasks", "start_step": 428, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand adjusts fingers and closes to grasp the small green block held by the right hand. | Right hand: release: Right hand releases the small green block, separating fingers from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: place: Left hand moves downward to place the small green block onto the table surface. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: release: Left hand opens fingers to release the small green block, separating from the block. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: retreat: Left hand moves upward away from the placed small green block. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00011", "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 small green block on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 621, "id": "reasoning-language-00012", "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 around the small green block and makes slight adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 622, "end_step": 727, "id": "reasoning-language-00013", "text": "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 block from the table and transports it above the long green block."}, {"label": "subtasks", "start_step": 728, "end_step": 907, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the position of the small green block to align it with the top surface of the long green block for assembly."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00015", "text": "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 block onto the top of the long green block."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens its fingers to release the small green block."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00017", "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 blue block placed on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift: Right hand lifts the blue block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1207, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand moves the held blue block toward the green block on the table."}, {"label": "subtasks", "start_step": 1208, "end_step": 1297, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand assembles the blue block onto the top of the green block by pressing slightly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the blue block, with fingers separating from the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00023", "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 block on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand closes fingers around the orange block, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00025", "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 block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand carries the orange block leftward toward the green-blue block on the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00027", "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 block onto the top of the green-blue block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1551, "id": "reasoning-language-00028", "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 block down to mate with the green-blue block below."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens fingers to release the orange block."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves away from the assembled blocks toward the right side."}, {"label": "subtasks", "start_step": 1650, "end_step": 1697, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving."}], "episode_index": 7}
+{"source_uid": "45e57db528a33e70", "num_frames": 1175, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1135, "id": "2DnK34ekecSJXlHLLVPVU"}, {"label": "subtasks", "start_step": 15, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward toward the small green lego brick on the black table, with fingers extended and slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 112, "end_step": 344, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the small green lego brick, adjusting finger positions and wrist orientation around the brick to secure a grip while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts finger positions to close around the small green lego brick on the dark surface, forming a stable grip on the brick."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00004", "text": "Right hand: hold: Right hand holds the small green lego brick steadily on the dark surface without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the small green lego brick upward, completely separating it from the dark supporting surface."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand carries the small green lego brick toward the larger green lego brick, rotating the brick slightly to adjust its orientation during movement."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00007", "text": "Right hand: place: Right hand lowers the small green lego brick onto the surface of the larger green lego brick until the small brick is stably supported."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00008", "text": "Right hand: release: Right hand opens its fingers to release the small green lego brick, separating the hand from the brick."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00009", "text": "Right hand: reach: Right hand moves toward the blue lego brick on the dark flat surface while empty, approaching the target object."}, {"label": "subtasks", "start_step": 668, "end_step": 734, "id": "reasoning-language-00010", "text": "Right hand: grasp: Right hand closes fingers around the blue lego brick, making small adjustments to finger positions to establish a stable grip, with the brick remaining on the dark surface."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00011", "text": "Right hand: lift: Right hand lifts the grasped blue lego brick upward, raising it completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00012", "text": "Right hand: transport: Right hand carries the lifted blue lego brick horizontally leftward, moving it directly over the adjacent green lego brick."}, {"label": "subtasks", "start_step": 772, "end_step": 884, "id": "reasoning-language-00013", "text": "Right hand: mate: Right hand aligns the blue lego brick with the connection studs on the green lego brick, making slight positional adjustments and pressing down to fit the two bricks together securely."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00014", "text": "Right hand: release: Right hand opens its fingers to release the assembled blue lego brick, separating the hand from the brick."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00015", "text": "Right hand: reach: Right hand moves right toward the orange lego brick on the dark flat surface, with fingers held in a slightly extended position."}, {"label": "subtasks", "start_step": 945, "end_step": 997, "id": "reasoning-language-00016", "text": "Right hand: grasp: Right hand closes fingers around the orange lego brick, making small finger and wrist adjustments to form a stable grip while the brick stays on the dark surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00017", "text": "Right hand: lift_transport: Right hand lifts the orange lego brick fully off the dark surface, then moves the brick left toward the stacked green and blue lego bricks with slight wrist rotation."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00018", "text": "Right hand: place: Right hand lowers the orange lego brick onto the top of the stacked lego bricks, adjusting position slightly until the brick is fully supported by the stack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00019", "text": "Right hand: release: Right hand opens its fingers to release the orange lego brick resting securely on the lego stack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00020", "text": "Right hand: retreat: Right hand moves right away from the stacked lego bricks, remaining empty as it withdraws."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00021", "text": "Left hand: return_home: Left hand remains empty, moves upward back to its initial raised home position with slight finger adjustments during the movement. | Right hand: return_home: Right hand remains empty, moves upward back to its initial raised home position with slight finger adjustments during the movement."}, {"label": "home", "start_step": 1136, "end_step": 1174, "id": "QQ2hgaNGQzi0URXy7Df-b"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward toward the small green lego brick on the black table, with fingers extended and slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 112, "end_step": 344, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the small green lego brick, adjusting finger positions and wrist orientation around the brick to secure a grip while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts finger positions to close around the small green lego brick on the dark surface, forming a stable grip on the brick."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00004", "text": "Right hand: hold: Right hand holds the small green lego brick steadily on the dark surface without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the small green lego brick upward, completely separating it from the dark supporting surface."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand carries the small green lego brick toward the larger green lego brick, rotating the brick slightly to adjust its orientation during movement."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00007", "text": "Right hand: place: Right hand lowers the small green lego brick onto the surface of the larger green lego brick until the small brick is stably supported."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00008", "text": "Right hand: release: Right hand opens its fingers to release the small green lego brick, separating the hand from the brick."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00009", "text": "Right hand: reach: Right hand moves toward the blue lego brick on the dark flat surface while empty, approaching the target object."}, {"label": "subtasks", "start_step": 668, "end_step": 734, "id": "reasoning-language-00010", "text": "Right hand: grasp: Right hand closes fingers around the blue lego brick, making small adjustments to finger positions to establish a stable grip, with the brick remaining on the dark surface."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00011", "text": "Right hand: lift: Right hand lifts the grasped blue lego brick upward, raising it completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00012", "text": "Right hand: transport: Right hand carries the lifted blue lego brick horizontally leftward, moving it directly over the adjacent green lego brick."}, {"label": "subtasks", "start_step": 772, "end_step": 884, "id": "reasoning-language-00013", "text": "Right hand: mate: Right hand aligns the blue lego brick with the connection studs on the green lego brick, making slight positional adjustments and pressing down to fit the two bricks together securely."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00014", "text": "Right hand: release: Right hand opens its fingers to release the assembled blue lego brick, separating the hand from the brick."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00015", "text": "Right hand: reach: Right hand moves right toward the orange lego brick on the dark flat surface, with fingers held in a slightly extended position."}, {"label": "subtasks", "start_step": 945, "end_step": 997, "id": "reasoning-language-00016", "text": "Right hand: grasp: Right hand closes fingers around the orange lego brick, making small finger and wrist adjustments to form a stable grip while the brick stays on the dark surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00017", "text": "Right hand: lift_transport: Right hand lifts the orange lego brick fully off the dark surface, then moves the brick left toward the stacked green and blue lego bricks with slight wrist rotation."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00018", "text": "Right hand: place: Right hand lowers the orange lego brick onto the top of the stacked lego bricks, adjusting position slightly until the brick is fully supported by the stack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00019", "text": "Right hand: release: Right hand opens its fingers to release the orange lego brick resting securely on the lego stack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00020", "text": "Right hand: retreat: Right hand moves right away from the stacked lego bricks, remaining empty as it withdraws."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00021", "text": "Left hand: return_home: Left hand remains empty, moves upward back to its initial raised home position with slight finger adjustments during the movement. | Right hand: return_home: Right hand remains empty, moves upward back to its initial raised home position with slight finger adjustments during the movement."}], "episode_index": 8}
+{"source_uid": "59432904fdb5cb3c", "num_frames": 1032, "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": 44, "id": "reasoning-language-00001", "text": "Left hand: other:extend_fingers: Left hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand. | Right hand: other:extend_fingers: Right hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand."}, {"label": "valid", "start_step": 0, "end_step": 995, "id": "3ZeVsnyN2yVWcOvemisji"}, {"label": "subtasks", "start_step": 45, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: other:extend_fingers: Right hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand moves downward toward the lego blocks placed on the black table surface, with fingers kept open."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green 2x2 lego block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 180, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions, contact points and wrist orientation to close around the small 2x2 light green lego brick on the dark surface, shifting the brick slightly to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the small 2x2 light green lego brick steadily on the dark surface with no visible movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: release: Right hand opens its fingers to release the light green lego brick on the dark flat surface."}, {"label": "subtasks", "start_step": 315, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand moves empty through the air toward the small blue lego brick, approaching the brick without forming a grip."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand closes its fingers around the small blue lego brick, making small finger adjustments to establish contact with the brick."}, {"label": "subtasks", "start_step": 435, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand makes slight finger adjustments to establish a stable grip on the blue lego brick resting on the dark table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: lift_transport: Right hand lifts the blue lego brick slightly off the dark surface and moves it to position directly above the stacked green lego bricks."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: place: Right hand lowers the blue lego brick onto the top surface of the green lego stack until the blue brick is fully supported by the green bricks."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the blue lego brick steadily on top of the green lego stack without any observable movement of the hand or the brick."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions and wrist orientation to establish a grasp on the stacked light green and blue lego bricks, slightly rotating the bricks to align them on the dark flat supporting surface."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: release_retreat: Right hand opens fingers to release contact with the stacked light green and blue lego bricks, moving slightly away from the bricks to exit the immediate contact area."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand gradually closes fingers to grasp the 2x2 orange lego brick placed on the black surface."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: lift: Right hand moves upward to lift the grasped 2x2 orange lego brick, fully separating it from the black supporting surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: transport_place: Right hand carries the grasped 2x2 orange lego brick to the position above the stacked blue and green lego bricks, moving downward to set the orange brick onto the top surface of the stacked bricks."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a grip on the orange lego brick resting on the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the orange lego brick steadily, the brick stays on the supporting stacked lego bricks with no visible movement of the hand or brick."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand extends the index finger and moves toward the top surface of the stacked orange lego brick, with no contact established with the brick during the movement."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: press: Right hand places the index finger on the top surface of the orange lego brick and presses downward vertically to apply pressure to the brick."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: other:adjust_hand_posture: Left hand stays in the upper left area, rotates the wrist slightly and closes the fingers to adjust to the resting posture while remaining empty. | Right hand: return_home: Right hand moves upward away from the stacked lego blocks with empty hand, returning to its initial upper resting position."}, {"label": "home", "start_step": 996, "end_step": 1031, "id": "vnJhjwocRz-au8SZ6NUWi"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:extend_fingers: Left hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand. | Right hand: other:extend_fingers: Right hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand."}, {"label": "subtasks", "start_step": 45, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: other:extend_fingers: Right hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand moves downward toward the lego blocks placed on the black table surface, with fingers kept open."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green 2x2 lego block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 180, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions, contact points and wrist orientation to close around the small 2x2 light green lego brick on the dark surface, shifting the brick slightly to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the small 2x2 light green lego brick steadily on the dark surface with no visible movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: release: Right hand opens its fingers to release the light green lego brick on the dark flat surface."}, {"label": "subtasks", "start_step": 315, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand moves empty through the air toward the small blue lego brick, approaching the brick without forming a grip."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand closes its fingers around the small blue lego brick, making small finger adjustments to establish contact with the brick."}, {"label": "subtasks", "start_step": 435, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand makes slight finger adjustments to establish a stable grip on the blue lego brick resting on the dark table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: lift_transport: Right hand lifts the blue lego brick slightly off the dark surface and moves it to position directly above the stacked green lego bricks."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: place: Right hand lowers the blue lego brick onto the top surface of the green lego stack until the blue brick is fully supported by the green bricks."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the blue lego brick steadily on top of the green lego stack without any observable movement of the hand or the brick."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions and wrist orientation to establish a grasp on the stacked light green and blue lego bricks, slightly rotating the bricks to align them on the dark flat supporting surface."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: release_retreat: Right hand opens fingers to release contact with the stacked light green and blue lego bricks, moving slightly away from the bricks to exit the immediate contact area."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand gradually closes fingers to grasp the 2x2 orange lego brick placed on the black surface."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: lift: Right hand moves upward to lift the grasped 2x2 orange lego brick, fully separating it from the black supporting surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: transport_place: Right hand carries the grasped 2x2 orange lego brick to the position above the stacked blue and green lego bricks, moving downward to set the orange brick onto the top surface of the stacked bricks."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a grip on the orange lego brick resting on the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the orange lego brick steadily, the brick stays on the supporting stacked lego bricks with no visible movement of the hand or brick."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand extends the index finger and moves toward the top surface of the stacked orange lego brick, with no contact established with the brick during the movement."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: press: Right hand places the index finger on the top surface of the orange lego brick and presses downward vertically to apply pressure to the brick."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: other:adjust_hand_posture: Left hand stays in the upper left area, rotates the wrist slightly and closes the fingers to adjust to the resting posture while remaining empty. | Right hand: return_home: Right hand moves upward away from the stacked lego blocks with empty hand, returning to its initial upper resting position."}], "episode_index": 9}
+{"source_uid": "20772beaf5be7a70", "num_frames": 1656, "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": 44, "id": "reasoning-language-00001", "text": "Left hand: other:move_slightly_upward: Left hand moves slightly upward while remaining empty. | Right hand: reach: Right hand moves downward toward the orange block on the black table, remaining empty during movement."}, {"label": "valid", "start_step": 0, "end_step": 1611, "id": "Dkhy55zAl3gZkfrq--p7K"}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the orange block on the black table, remaining empty during movement."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the small green building block on the black mat to establish a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the small green building block off the black mat and moves it rightward above the longer green building block."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the small green building block onto the top surface of the longer green building block on the black mat."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the stacked green building blocks on the black tabletop."}, {"label": "subtasks", "start_step": 322, "end_step": 531, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: other:adjust_stacked_blocks_position_alignment: Right hand moves and rotates the stacked green building blocks on the black tabletop to adjust their position and alignment."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand releases the stacked green building blocks, with fingers separating from the blocks."}, {"label": "subtasks", "start_step": 555, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the stacked green building blocks on the black table."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to establish stable grasp on the stacked green building blocks."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the stacked green building blocks and moves them towards the orange building block."}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the stacked green building blocks onto the target position on the table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the stacked green building blocks."}, {"label": "subtasks", "start_step": 990, "end_step": 1071, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue building block on the gray table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: transport: Right hand moves the grasped blue building block leftward toward the green building blocks."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the blue building block with the top of the green building blocks."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: press: Right hand presses the blue building block down onto the green building blocks to secure the connection."}, {"label": "subtasks", "start_step": 1215, "end_step": 1319, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the orange building block on the table."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the orange building block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the orange building block off the table and moves it leftward toward the stacked blue and green building blocks."}, {"label": "subtasks", "start_step": 1418, "end_step": 1521, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the orange building block onto the top of the blue building block, adjusting its position to align properly."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand releases the orange building block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "home", "start_step": 1612, "end_step": 1655, "id": "ao4qqQbzjlryjbJkBOj08"}, {"label": "subtasks", "start_step": 1620, "end_step": 1655, "id": "reasoning-language-00027", "text": "Left hand: return_home: Left hand moves back to its initial home position on the left side and stops. | Right hand: return_home: Right hand moves back to its initial home position on the right side and stops."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:move_slightly_upward: Left hand moves slightly upward while remaining empty. | Right hand: reach: Right hand moves downward toward the orange block on the black table, remaining empty during movement."}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the orange block on the black table, remaining empty during movement."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the small green building block on the black mat to establish a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the small green building block off the black mat and moves it rightward above the longer green building block."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the small green building block onto the top surface of the longer green building block on the black mat."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the stacked green building blocks on the black tabletop."}, {"label": "subtasks", "start_step": 322, "end_step": 531, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: other:adjust_stacked_blocks_position_alignment: Right hand moves and rotates the stacked green building blocks on the black tabletop to adjust their position and alignment."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand releases the stacked green building blocks, with fingers separating from the blocks."}, {"label": "subtasks", "start_step": 555, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the stacked green building blocks on the black table."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to establish stable grasp on the stacked green building blocks."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the stacked green building blocks and moves them towards the orange building block."}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the stacked green building blocks onto the target position on the table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the stacked green building blocks."}, {"label": "subtasks", "start_step": 990, "end_step": 1071, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue building block on the gray table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: transport: Right hand moves the grasped blue building block leftward toward the green building blocks."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the blue building block with the top of the green building blocks."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: press: Right hand presses the blue building block down onto the green building blocks to secure the connection."}, {"label": "subtasks", "start_step": 1215, "end_step": 1319, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the orange building block on the table."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the orange building block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the orange building block off the table and moves it leftward toward the stacked blue and green building blocks."}, {"label": "subtasks", "start_step": 1418, "end_step": 1521, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the orange building block onto the top of the blue building block, adjusting its position to align properly."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand releases the orange building block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 1620, "end_step": 1655, "id": "reasoning-language-00027", "text": "Left hand: return_home: Left hand moves back to its initial home position on the left side and stops. | Right hand: return_home: Right hand moves back to its initial home position on the right side and stops."}], "episode_index": 10}
+{"source_uid": "c1cdb3e019a339ae", "num_frames": 958, "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": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_raised_posture: Left hand moves slightly to the raised position at the left side of the dark table, with fingers extending and spreading open. | Right hand: other:adjust_raised_posture: Right hand moves slightly to the raised position at the right side of the dark table, with wrist rotating slightly and fingers extending open."}, {"label": "valid", "start_step": 0, "end_step": 909, "id": "kFEJEA7Pecnf7ubRLizwf"}, {"label": "subtasks", "start_step": 30, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: idle: Right hand remains empty and stationary at the raised position on the right side of the dark table, with fingers slightly spread."}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand moves downward toward the green lego block placed on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand contacts the green lego block on the dark table, fingers closing and making small adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger and wrist positions to form a stable grasp around the small light green block resting on the black work surface."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift_transport: Right hand lifts the small light green block off the black surface and moves it to a position directly above the larger long green block."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: place: Right hand lowers the small light green block until it rests steadily on the upper surface of the larger long green block."}, {"label": "subtasks", "start_step": 232, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press: Right hand applies downward pressure on the small light green block with small finger adjustments to secure it to the larger long green block."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: release: Right hand releases contact with the green lego block, fingers opening and moving away from the green block surface."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift_transport: Right hand lifts the held blue lego block upward off the dark surface behind the green block, moving the block through air to the position above the target placement spot."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: place: Right hand lowers the blue lego block vertically down to the dark surface at the upper right of the green block, until the block rests stably on the surface and is fully supported."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand makes small, continuous adjustments to finger positions on the blue lego block, repositioning contact points to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger positions to grasp the blue Lego block, moving the block horizontally to position it above the adjacent green Lego block on the dark gray work surface."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press_release: Right hand presses the blue Lego block downward against the green Lego block with minor wrist and finger alignment adjustments, opens fingers to release the block and lifts slightly upward away from the block."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: release: Right hand opens its fingers to release the stacked blue and green building blocks resting on the dark gray surface."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand moves empty across the dark gray surface toward the small orange building block, approaching the target block."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand closes its fingers around the small orange building block, making small contact adjustments to establish a grasp on the block."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the orange building block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift: Right hand lifts the grasped orange building block upward until it is fully separated from the dark supporting surface."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: transport_place: Right hand moves the grasped orange building block to position above the green building block and lowers it to rest on the green building block."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: mate: Right hand adjusts the position of the orange building block to align its connecting points with the studs on the green building block."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: hold: Right hand holds the aligned orange building block on top of the green building block without observable movement."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand extends its index finger and moves it downward toward the top surface of the orange block, with no contact established."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press: Right hand presses its extended index finger against the top surface of the orange block, applying downward vertical pressure."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: return_home: Right hand lifts its index finger away from the orange block, moves backward to the right-side home position, adjusts its fingers to the upright thumb-up pose and stops."}, {"label": "home", "start_step": 910, "end_step": 957, "id": "29A2Us_joDFrXJAOuemgo"}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: other:adjust_hand_to_thumb_up_pose: Left hand rotates its wrist approximately 90 degrees upward and adjusts finger positions to form the upright thumb-up pose, with no obvious overall position shift. | Right hand: return_home: Right hand lifts its index finger away from the orange block, moves backward to the right-side home position, adjusts its fingers to the upright thumb-up pose and stops."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_raised_posture: Left hand moves slightly to the raised position at the left side of the dark table, with fingers extending and spreading open. | Right hand: other:adjust_raised_posture: Right hand moves slightly to the raised position at the right side of the dark table, with wrist rotating slightly and fingers extending open."}, {"label": "subtasks", "start_step": 30, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: idle: Right hand remains empty and stationary at the raised position on the right side of the dark table, with fingers slightly spread."}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand moves downward toward the green lego block placed on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand contacts the green lego block on the dark table, fingers closing and making small adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger and wrist positions to form a stable grasp around the small light green block resting on the black work surface."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift_transport: Right hand lifts the small light green block off the black surface and moves it to a position directly above the larger long green block."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: place: Right hand lowers the small light green block until it rests steadily on the upper surface of the larger long green block."}, {"label": "subtasks", "start_step": 232, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press: Right hand applies downward pressure on the small light green block with small finger adjustments to secure it to the larger long green block."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: release: Right hand releases contact with the green lego block, fingers opening and moving away from the green block surface."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift_transport: Right hand lifts the held blue lego block upward off the dark surface behind the green block, moving the block through air to the position above the target placement spot."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: place: Right hand lowers the blue lego block vertically down to the dark surface at the upper right of the green block, until the block rests stably on the surface and is fully supported."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand makes small, continuous adjustments to finger positions on the blue lego block, repositioning contact points to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger positions to grasp the blue Lego block, moving the block horizontally to position it above the adjacent green Lego block on the dark gray work surface."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press_release: Right hand presses the blue Lego block downward against the green Lego block with minor wrist and finger alignment adjustments, opens fingers to release the block and lifts slightly upward away from the block."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: release: Right hand opens its fingers to release the stacked blue and green building blocks resting on the dark gray surface."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand moves empty across the dark gray surface toward the small orange building block, approaching the target block."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand closes its fingers around the small orange building block, making small contact adjustments to establish a grasp on the block."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the orange building block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift: Right hand lifts the grasped orange building block upward until it is fully separated from the dark supporting surface."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: transport_place: Right hand moves the grasped orange building block to position above the green building block and lowers it to rest on the green building block."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: mate: Right hand adjusts the position of the orange building block to align its connecting points with the studs on the green building block."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: hold: Right hand holds the aligned orange building block on top of the green building block without observable movement."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand extends its index finger and moves it downward toward the top surface of the orange block, with no contact established."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press: Right hand presses its extended index finger against the top surface of the orange block, applying downward vertical pressure."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: return_home: Right hand lifts its index finger away from the orange block, moves backward to the right-side home position, adjusts its fingers to the upright thumb-up pose and stops."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: other:adjust_hand_to_thumb_up_pose: Left hand rotates its wrist approximately 90 degrees upward and adjusts finger positions to form the upright thumb-up pose, with no obvious overall position shift. | Right hand: return_home: Right hand lifts its index finger away from the orange block, moves backward to the right-side home position, adjusts its fingers to the upright thumb-up pose and stops."}], "episode_index": 11}
+{"source_uid": "34c8440eabba4902", "num_frames": 1230, "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:extend_index_middle_fingers_upward: Left hand moves slightly upward while extending and spreading its index and middle fingers. | Right hand: other:extend_index_middle_fingers_upward: Right hand moves slightly upward while extending and spreading its index and middle fingers."}, {"label": "valid", "start_step": 0, "end_step": 1189, "id": "D4HEuZzyXDV_k_7sDLYVJ"}, {"label": "subtasks", "start_step": 38, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: other:extend_index_middle_fingers_upward: Right hand moves slightly upward while extending and spreading its index and middle fingers."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves downward and leftward toward the small green block on the table, with fingers held open."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green block, closing fingers to form a grasp on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table surface, moving the block slightly upward and leftward while holding it."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: place_release: Right hand lowers the small green block back onto the table surface, opening fingers to release the block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves leftward back toward the small green block on the table while empty."}, {"label": "subtasks", "start_step": 202, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts fingers around the small green block again, attempting to establish a stable grasp."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release_retreat: Right hand opens fingers to release the small green block, moving upward and rightward away from the block while empty."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves leftward toward the small green block again while empty, until fingers contact the block."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green block, closing fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes fingers around the small green 1x1 lego block on the dark flat surface, making slight finger adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand moves the grasped small green lego block to align it with the larger green lego block below, adjusting position to fit the small block onto the upper surface of the larger block."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand opens its fingers to release the small green lego block resting on the larger lego block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves away from the stacked green blocks toward the blue 2x2 lego block, with fingers held slightly open during the movement."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand positions fingers around the blue 2x2 lego block, closes and adjusts fingers to establish a stable grasp while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes its fingers to establish a firm grip on the blue 2x2 lego block resting on the dark flat work surface."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift_transport: Right hand lifts the blue 2x2 lego block completely off the dark surface and moves it to a position directly above the adjacent green lego block."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reorient: Right hand rotates the gripped blue lego block slightly to adjust its orientation while positioned above the green lego block."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand lowers the blue lego block to align and press it into contact with the top surface of the green lego block."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: hold: Right hand holds the mated blue lego block on top of the green lego block without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand opens its fingers to release the grip on the blue lego block, separating the hand from the block."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves empty away from the stacked blue and green block toward the small orange 1x1 block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes fingers around the small orange 1x1 block, making small adjustments to establish a stable grip while the block remains on the dark flat surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift: Right hand lifts the grasped small orange 1x1 block upward until it is fully raised off the dark flat surface."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: transport: Right hand moves the held small orange 1x1 block leftward across the space to position it above the stacked blue and green block."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand aligns the held small orange 1x1 block directly above the stacked blue and green block to position it for attachment."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand adjusts the small orange lego block with fine finger movements, making slight positional and rotational adjustments to align its connecting studs with the green lego block underneath."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: hold: Right hand holds the aligned small orange lego block steady on the green lego block without any movement of the hand or block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand lifts its fingers upward off the small orange lego block, releasing contact with the block."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: return_home: Left hand moves empty backward from its extended left forward position to return to the front home position, with fingers gradually closing into a relaxed posture. | Right hand: release: Right hand opens its fingers to release the orange lego block resting on the stacked green lego block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00035", "text": "Left hand: return_home: Left hand moves empty backward from its extended left forward position to return to the front home position, with fingers gradually closing into a relaxed posture. | Right hand: return_home: Right hand moves empty upward and backward to return to the front home position, with fingers gradually closing into a relaxed posture."}, {"label": "home", "start_step": 1190, "end_step": 1229, "id": "_JKcQT40YyvnhXpU35E5S"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:extend_index_middle_fingers_upward: Left hand moves slightly upward while extending and spreading its index and middle fingers. | Right hand: other:extend_index_middle_fingers_upward: Right hand moves slightly upward while extending and spreading its index and middle fingers."}, {"label": "subtasks", "start_step": 38, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: other:extend_index_middle_fingers_upward: Right hand moves slightly upward while extending and spreading its index and middle fingers."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves downward and leftward toward the small green block on the table, with fingers held open."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green block, closing fingers to form a grasp on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table surface, moving the block slightly upward and leftward while holding it."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: place_release: Right hand lowers the small green block back onto the table surface, opening fingers to release the block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves leftward back toward the small green block on the table while empty."}, {"label": "subtasks", "start_step": 202, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts fingers around the small green block again, attempting to establish a stable grasp."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release_retreat: Right hand opens fingers to release the small green block, moving upward and rightward away from the block while empty."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves leftward toward the small green block again while empty, until fingers contact the block."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green block, closing fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes fingers around the small green 1x1 lego block on the dark flat surface, making slight finger adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand moves the grasped small green lego block to align it with the larger green lego block below, adjusting position to fit the small block onto the upper surface of the larger block."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand opens its fingers to release the small green lego block resting on the larger lego block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves away from the stacked green blocks toward the blue 2x2 lego block, with fingers held slightly open during the movement."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand positions fingers around the blue 2x2 lego block, closes and adjusts fingers to establish a stable grasp while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes its fingers to establish a firm grip on the blue 2x2 lego block resting on the dark flat work surface."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift_transport: Right hand lifts the blue 2x2 lego block completely off the dark surface and moves it to a position directly above the adjacent green lego block."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reorient: Right hand rotates the gripped blue lego block slightly to adjust its orientation while positioned above the green lego block."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand lowers the blue lego block to align and press it into contact with the top surface of the green lego block."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: hold: Right hand holds the mated blue lego block on top of the green lego block without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand opens its fingers to release the grip on the blue lego block, separating the hand from the block."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves empty away from the stacked blue and green block toward the small orange 1x1 block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes fingers around the small orange 1x1 block, making small adjustments to establish a stable grip while the block remains on the dark flat surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift: Right hand lifts the grasped small orange 1x1 block upward until it is fully raised off the dark flat surface."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: transport: Right hand moves the held small orange 1x1 block leftward across the space to position it above the stacked blue and green block."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand aligns the held small orange 1x1 block directly above the stacked blue and green block to position it for attachment."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand adjusts the small orange lego block with fine finger movements, making slight positional and rotational adjustments to align its connecting studs with the green lego block underneath."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: hold: Right hand holds the aligned small orange lego block steady on the green lego block without any movement of the hand or block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand lifts its fingers upward off the small orange lego block, releasing contact with the block."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: return_home: Left hand moves empty backward from its extended left forward position to return to the front home position, with fingers gradually closing into a relaxed posture. | Right hand: release: Right hand opens its fingers to release the orange lego block resting on the stacked green lego block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00035", "text": "Left hand: return_home: Left hand moves empty backward from its extended left forward position to return to the front home position, with fingers gradually closing into a relaxed posture. | Right hand: return_home: Right hand moves empty upward and backward to return to the front home position, with fingers gradually closing into a relaxed posture."}], "episode_index": 12}
+{"source_uid": "d00f76f2b3b51ae4", "num_frames": 1796, "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": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts finger posture and wrist orientation at the left upper area of the black table. | Right hand: reach: Right hand moves toward the small green block on the black table until fingers touch the block."}, {"label": "valid", "start_step": 0, "end_step": 1753, "id": "ZLQd4Mruv_NFw4xJrR-Ei"}, {"label": "subtasks", "start_step": 22, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the small green block on the black table until fingers touch the block."}, {"label": "subtasks", "start_step": 120, "end_step": 291, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reorient: Right hand rotates the small green block slightly on the black surface to adjust its orientation."}, {"label": "subtasks", "start_step": 292, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the small green block and moves upward away from the block."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves towards the small green block placed on the black surface."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the small green block."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the small green block off the black surface and moves it right towards the larger green block."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small green block."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the small green block off the supporting surface and transports it above the larger light green block."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand lowers the small green block onto the top surface of the larger light green block."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the small green block down to secure it attached to the larger light green block."}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts its grip on the green block placed on the dark table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: hold: Right hand holds the green block on the table without moving."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the blue block on the table."}, {"label": "subtasks", "start_step": 840, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand closes its fingers to grasp the blue block on the dark surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift: Right hand lifts the blue block upward away from the dark surface."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: transport: Right hand transports the blue block horizontally to the position above the small green block."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand lowers the blue block onto the top surface of the small green block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1101, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the blue block downward to attach it firmly to the green block."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release_retreat: Right hand releases the blue block and retreats slightly away from the assembled blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the orange block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts fingers to close and form a stable grip on the orange block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the orange block off the table and moves it toward the green block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: transport: Right hand transports the orange block towards the top of the blue block."}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand places the orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1627, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand repeatedly presses the orange block down against the blue block."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the orange block and separates from the block."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: retreat: Right hand retreats away from the stacked blocks."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the blue building block on top of the stacked blocks on the table."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: retreat: Right hand moves backward away from the stacked building blocks toward its initial position."}, {"label": "subtasks", "start_step": 1740, "end_step": 1795, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table."}, {"label": "home", "start_step": 1754, "end_step": 1795, "id": "7djpYa4CjWnWd_IyKtGOl"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts finger posture and wrist orientation at the left upper area of the black table. | Right hand: reach: Right hand moves toward the small green block on the black table until fingers touch the block."}, {"label": "subtasks", "start_step": 22, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the small green block on the black table until fingers touch the block."}, {"label": "subtasks", "start_step": 120, "end_step": 291, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reorient: Right hand rotates the small green block slightly on the black surface to adjust its orientation."}, {"label": "subtasks", "start_step": 292, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the small green block and moves upward away from the block."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves towards the small green block placed on the black surface."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the small green block."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the small green block off the black surface and moves it right towards the larger green block."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small green block."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the small green block off the supporting surface and transports it above the larger light green block."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand lowers the small green block onto the top surface of the larger light green block."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the small green block down to secure it attached to the larger light green block."}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts its grip on the green block placed on the dark table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: hold: Right hand holds the green block on the table without moving."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the blue block on the table."}, {"label": "subtasks", "start_step": 840, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand closes its fingers to grasp the blue block on the dark surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift: Right hand lifts the blue block upward away from the dark surface."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: transport: Right hand transports the blue block horizontally to the position above the small green block."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand lowers the blue block onto the top surface of the small green block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1101, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the blue block downward to attach it firmly to the green block."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release_retreat: Right hand releases the blue block and retreats slightly away from the assembled blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the orange block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts fingers to close and form a stable grip on the orange block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the orange block off the table and moves it toward the green block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: transport: Right hand transports the orange block towards the top of the blue block."}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand places the orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1627, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand repeatedly presses the orange block down against the blue block."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the orange block and separates from the block."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: retreat: Right hand retreats away from the stacked blocks."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the blue building block on top of the stacked blocks on the table."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: retreat: Right hand moves backward away from the stacked building blocks toward its initial position."}, {"label": "subtasks", "start_step": 1740, "end_step": 1795, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table."}], "episode_index": 13}
+{"source_uid": "a9813520a54fda12", "num_frames": 2206, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: idle: Right hand remains empty at the upper right initial position without obvious displacement."}, {"label": "valid", "start_step": 0, "end_step": 2160, "id": "gpVEyA8MduV2T9y9_rVEY"}, {"label": "subtasks", "start_step": 60, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: reach: Right hand moves downward toward the small green 2x2 block on the table, with fingers slightly extended, approaching the block without stable contact."}, {"label": "subtasks", "start_step": 128, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the small green 2x2 block to form a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: lift: Right hand holds the grasped small green 2x2 block and moves upward, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "id": "reasoning-language-00005", "text": "Left hand: reach: Left hand moves downward and rightward with slightly open fingers to approach the small green block held by the right hand. | Right hand: lift_transport: Right hand lifts the small green block off the dark supporting surface and moves it leftward toward the approaching left hand."}, {"label": "subtasks", "start_step": 338, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: reach: Left hand moves downward and rightward with slightly open fingers to approach the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 382, "end_step": 479, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand contacts the small green block and adjusts its fingers to close around the block to establish a grasp. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand grips the small green block and moves it downward toward the long green block placed on the dark table surface. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 555, "end_step": 651, "id": "reasoning-language-00009", "text": "Left hand: place_release: Left hand lowers the small green block onto the dark table surface next to the long green block, releases its grip as the block rests stably on the surface. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: retreat: Empty left hand moves upward, retreating from the position of the placed small green block. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves downward toward the small loose green block on the dark surface, with fingers slightly spread, without contacting the block."}, {"label": "subtasks", "start_step": 712, "end_step": 787, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small loose green block on the dark surface, adjusting finger contact positions to establish a stable grasp, while the block remains resting on the supporting surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand moves upward while holding the small green block, lifting the block completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand moves upward and slightly toward the center of the workspace while holding the lifted small green block, transporting the block through the air above the surface."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the held small green block, separating from the block which falls onto the dark supporting surface."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves downward toward the small green block resting on the lower right table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 930, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small green block on the lower right table, making small adjustments to finger positions to establish a firm grip while the block stays in contact with the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped small green block off the table surface and moves it leftward to a position directly above the long green block at the center of the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place: Right hand lowers the small green block until it rests on the top surface of the long green block, supported by the block below."}, {"label": "subtasks", "start_step": 1088, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand makes small positional adjustments to the small green block to align its connecting features with the long green block for assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1304, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press: Right hand presses vertically downward on the top surface of the small green block to secure it to the long green block below."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves empty toward the small blue lego block resting on the dark gray surface, approaching the target to prepare for grasping."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small blue lego block, making slight adjustments to finger contact points to form a stable grasp while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped small blue lego block upward, fully detaching it from the dark gray supporting surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reorient: Right hand rotates the wrist to flip the grasped blue lego block approximately 180 degrees, turning the studded face upward with minimal change to the block's horizontal position."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place: Right hand moves downward to place the flipped blue lego block back onto the dark gray surface, with the block fully supported by the surface at the end of the segment while the hand still holds it."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand makes slight adjustments to finger positions and pressure on the blue lego block to re-stabilize the grasp, with visible small movements of the fingers and wrist."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped blue lego block upward again, fully lifting it off the dark gray surface to prepare for relocation."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the grasped blue lego block through the air, moving downward toward the upright green lego block positioned below the blue block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand aligns the bottom of the blue lego block with the top studs of the green lego block, positioning the two blocks to engage in assembly."}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press_release: Right hand applies downward pressure on the blue lego block to press it firmly onto the green lego block to complete assembly, opens fingers to release the block and separate from it."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves toward the small orange lego block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small orange lego block, making small adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped small orange lego block completely off the dark work surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted orange lego block a short distance toward the stacked two-block lego tower."}, {"label": "subtasks", "start_step": 1852, "end_step": 1867, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place_release: Right hand lowers the orange lego block onto the dark work surface, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand adjusts its position and moves fingers toward the resting orange lego block to re-establish a grip."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the orange lego block, making small adjustments to secure a stable grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the re-grasped orange lego block fully off the dark work surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted orange lego block directly over the top surface of the blue lego block on the stack."}, {"label": "subtasks", "start_step": 1980, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand aligns the orange lego block with the connecting studs on the top of the blue lego block, positioning it to fit onto the stack."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press: Right hand applies downward vertical pressure on the top surface of the orange lego block to secure it to the lego stack below."}, {"label": "subtasks", "start_step": 2130, "end_step": 2204, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects."}, {"label": "home", "start_step": 2161, "end_step": 2205, "id": "nxoem9M_wwEWHlmbuMuWr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: idle: Right hand remains empty at the upper right initial position without obvious displacement."}, {"label": "subtasks", "start_step": 60, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: reach: Right hand moves downward toward the small green 2x2 block on the table, with fingers slightly extended, approaching the block without stable contact."}, {"label": "subtasks", "start_step": 128, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the small green 2x2 block to form a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: lift: Right hand holds the grasped small green 2x2 block and moves upward, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "id": "reasoning-language-00005", "text": "Left hand: reach: Left hand moves downward and rightward with slightly open fingers to approach the small green block held by the right hand. | Right hand: lift_transport: Right hand lifts the small green block off the dark supporting surface and moves it leftward toward the approaching left hand."}, {"label": "subtasks", "start_step": 338, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: reach: Left hand moves downward and rightward with slightly open fingers to approach the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 382, "end_step": 479, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand contacts the small green block and adjusts its fingers to close around the block to establish a grasp. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand grips the small green block and moves it downward toward the long green block placed on the dark table surface. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 555, "end_step": 651, "id": "reasoning-language-00009", "text": "Left hand: place_release: Left hand lowers the small green block onto the dark table surface next to the long green block, releases its grip as the block rests stably on the surface. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: retreat: Empty left hand moves upward, retreating from the position of the placed small green block. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves downward toward the small loose green block on the dark surface, with fingers slightly spread, without contacting the block."}, {"label": "subtasks", "start_step": 712, "end_step": 787, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small loose green block on the dark surface, adjusting finger contact positions to establish a stable grasp, while the block remains resting on the supporting surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand moves upward while holding the small green block, lifting the block completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand moves upward and slightly toward the center of the workspace while holding the lifted small green block, transporting the block through the air above the surface."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the held small green block, separating from the block which falls onto the dark supporting surface."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves downward toward the small green block resting on the lower right table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 930, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small green block on the lower right table, making small adjustments to finger positions to establish a firm grip while the block stays in contact with the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped small green block off the table surface and moves it leftward to a position directly above the long green block at the center of the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place: Right hand lowers the small green block until it rests on the top surface of the long green block, supported by the block below."}, {"label": "subtasks", "start_step": 1088, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand makes small positional adjustments to the small green block to align its connecting features with the long green block for assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1304, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press: Right hand presses vertically downward on the top surface of the small green block to secure it to the long green block below."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves empty toward the small blue lego block resting on the dark gray surface, approaching the target to prepare for grasping."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small blue lego block, making slight adjustments to finger contact points to form a stable grasp while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped small blue lego block upward, fully detaching it from the dark gray supporting surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reorient: Right hand rotates the wrist to flip the grasped blue lego block approximately 180 degrees, turning the studded face upward with minimal change to the block's horizontal position."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place: Right hand moves downward to place the flipped blue lego block back onto the dark gray surface, with the block fully supported by the surface at the end of the segment while the hand still holds it."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand makes slight adjustments to finger positions and pressure on the blue lego block to re-stabilize the grasp, with visible small movements of the fingers and wrist."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped blue lego block upward again, fully lifting it off the dark gray surface to prepare for relocation."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the grasped blue lego block through the air, moving downward toward the upright green lego block positioned below the blue block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand aligns the bottom of the blue lego block with the top studs of the green lego block, positioning the two blocks to engage in assembly."}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press_release: Right hand applies downward pressure on the blue lego block to press it firmly onto the green lego block to complete assembly, opens fingers to release the block and separate from it."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves toward the small orange lego block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small orange lego block, making small adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped small orange lego block completely off the dark work surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted orange lego block a short distance toward the stacked two-block lego tower."}, {"label": "subtasks", "start_step": 1852, "end_step": 1867, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place_release: Right hand lowers the orange lego block onto the dark work surface, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand adjusts its position and moves fingers toward the resting orange lego block to re-establish a grip."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the orange lego block, making small adjustments to secure a stable grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the re-grasped orange lego block fully off the dark work surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted orange lego block directly over the top surface of the blue lego block on the stack."}, {"label": "subtasks", "start_step": 1980, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand aligns the orange lego block with the connecting studs on the top of the blue lego block, positioning it to fit onto the stack."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press: Right hand applies downward vertical pressure on the top surface of the orange lego block to secure it to the lego stack below."}, {"label": "subtasks", "start_step": 2130, "end_step": 2204, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects."}], "episode_index": 14}
+{"source_uid": "a5b1cd69b4381f77", "num_frames": 2547, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_fingers_to_extended_pose: Left hand moves slightly upward at the left side of the table while adjusting its fingers to a fully extended open pose, without holding any object. | Right hand: other:adjust_fingers_to_pre_reach_pose: Right hand moves slightly upward at the right side of the table while adjusting its fingers to a slightly flexed pre-reach pose, without holding any object."}, {"label": "valid", "start_step": 0, "end_step": 2510, "id": "pKr--XiUryjVOsmsZiVpe"}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: other:adjust_fingers_to_pre_reach_pose: Right hand moves slightly upward at the right side of the table while adjusting its fingers to a slightly flexed pre-reach pose, without holding any object."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green block placed on the central table surface, remaining empty and not yet in contact with the block."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the small 2x2 green block, adjusting finger contact positions to form a stable grasp while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped small 2x2 green block vertically upward, separating the block completely from the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the grasped small 2x2 green block downward to position it directly above the larger 2x4 green block on the table."}, {"label": "subtasks", "start_step": 248, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the small 2x2 green block with the connection studs on the larger 2x4 green block, adjusting position and applying downward pressure to fit the two blocks together."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand gradually opens its fingers to release the assembled small green block, with fingers remaining in partial contact with the block at the end of the interval."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: push: Right hand contacts the green block on the dark table surface, pushing the block away to make it slide across the table."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty toward the small blue block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 465, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the small blue block, adjusting finger positions to form a stable grip on the block resting on the table."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped blue block upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted blue block through the air to a position above the table next to the displaced green block."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the blue block down to the table surface until the block is fully supported by the table."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions on the placed blue block slightly to stabilize the grip for subsequent movement."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the grasped blue block across the table to position it adjacent to the green block."}, {"label": "subtasks", "start_step": 750, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the blue block with the green block, pressing the blocks together to fit them into an assembled state."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens fingers to release the assembled blue block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty away from the assembled blocks toward the right side of the workspace."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small orange lego block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the orange lego block to form a stable grip, while the block remains resting on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped orange lego block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted orange lego block leftward to position it directly above the stacked green and blue lego blocks."}, {"label": "subtasks", "start_step": 1050, "end_step": 1177, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand adjusts the orientation of the orange lego block, aligning its connecting studs with the top of the stacked blocks to attempt assembly."}, {"label": "subtasks", "start_step": 1178, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the orange lego block, which drops onto the table adjacent to the stacked blocks."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand repositions its fingers around the orange lego block on the table, making slight adjustments to establish a new stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the re-grasped orange lego block upward until it is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the orange lego block rightward across the table to the area above its original resting position."}, {"label": "subtasks", "start_step": 1402, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the orange lego block downward until the block rests steadily on the dark table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to fully release contact with the orange lego block supported by the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small orange block on the dark table surface, remaining empty with no contact to the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1897, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the orange block, adjusting finger positions repeatedly while slightly rotating and shifting the block on the table surface to form a stable grip."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand holds the orange block and lifts it upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted orange block, moving it horizontally left toward the stacked blue and green blocks."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the orange block to rest stably on the table surface, fingers opening to release contact with the settled block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2151, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach_grasp: Right hand moves slightly to re-contact the orange block on the table, adjusting finger positions while slightly shifting the block to re-establish a stable grip."}, {"label": "subtasks", "start_step": 2152, "end_step": 2234, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the orange block on the table surface without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts and closes fingers around the orange block resting on the dark table to form a stable grasp."}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange block completely off the table surface and moves it over the adjacent stacked green and blue block."}, {"label": "subtasks", "start_step": 2280, "end_step": 2324, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand lowers the orange block to align with the connection points on top of the green and blue block, pressing slightly to fit the two blocks together."}, {"label": "subtasks", "start_step": 2325, "end_step": 2467, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the fully assembled stack of blocks on the table surface without any observable movement of the hand or blocks."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release contact with the top orange block, separating the hand from the assembled block stack."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the stacked colorful blocks resting on the dark table, losing contact with the blocks."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves upward and rightward with empty hand, retreating away from the stacked blocks on the table."}, {"label": "home", "start_step": 2511, "end_step": 2546, "id": "kpt_z_Ae9_BI1HwHvjtXV"}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00045", "text": "Left hand: retreat: Left hand moves upward and backward with empty hand, retreating from the previous outstretched left position. | Right hand: retreat: Right hand moves upward and rightward with empty hand, retreating away from the stacked blocks on the table."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_fingers_to_extended_pose: Left hand moves slightly upward at the left side of the table while adjusting its fingers to a fully extended open pose, without holding any object. | Right hand: other:adjust_fingers_to_pre_reach_pose: Right hand moves slightly upward at the right side of the table while adjusting its fingers to a slightly flexed pre-reach pose, without holding any object."}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: other:adjust_fingers_to_pre_reach_pose: Right hand moves slightly upward at the right side of the table while adjusting its fingers to a slightly flexed pre-reach pose, without holding any object."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green block placed on the central table surface, remaining empty and not yet in contact with the block."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the small 2x2 green block, adjusting finger contact positions to form a stable grasp while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped small 2x2 green block vertically upward, separating the block completely from the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the grasped small 2x2 green block downward to position it directly above the larger 2x4 green block on the table."}, {"label": "subtasks", "start_step": 248, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the small 2x2 green block with the connection studs on the larger 2x4 green block, adjusting position and applying downward pressure to fit the two blocks together."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand gradually opens its fingers to release the assembled small green block, with fingers remaining in partial contact with the block at the end of the interval."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: push: Right hand contacts the green block on the dark table surface, pushing the block away to make it slide across the table."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty toward the small blue block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 465, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the small blue block, adjusting finger positions to form a stable grip on the block resting on the table."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped blue block upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted blue block through the air to a position above the table next to the displaced green block."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the blue block down to the table surface until the block is fully supported by the table."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions on the placed blue block slightly to stabilize the grip for subsequent movement."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the grasped blue block across the table to position it adjacent to the green block."}, {"label": "subtasks", "start_step": 750, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the blue block with the green block, pressing the blocks together to fit them into an assembled state."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens fingers to release the assembled blue block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty away from the assembled blocks toward the right side of the workspace."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small orange lego block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the orange lego block to form a stable grip, while the block remains resting on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped orange lego block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted orange lego block leftward to position it directly above the stacked green and blue lego blocks."}, {"label": "subtasks", "start_step": 1050, "end_step": 1177, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand adjusts the orientation of the orange lego block, aligning its connecting studs with the top of the stacked blocks to attempt assembly."}, {"label": "subtasks", "start_step": 1178, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the orange lego block, which drops onto the table adjacent to the stacked blocks."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand repositions its fingers around the orange lego block on the table, making slight adjustments to establish a new stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the re-grasped orange lego block upward until it is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the orange lego block rightward across the table to the area above its original resting position."}, {"label": "subtasks", "start_step": 1402, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the orange lego block downward until the block rests steadily on the dark table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to fully release contact with the orange lego block supported by the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small orange block on the dark table surface, remaining empty with no contact to the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1897, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the orange block, adjusting finger positions repeatedly while slightly rotating and shifting the block on the table surface to form a stable grip."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand holds the orange block and lifts it upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted orange block, moving it horizontally left toward the stacked blue and green blocks."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the orange block to rest stably on the table surface, fingers opening to release contact with the settled block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2151, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach_grasp: Right hand moves slightly to re-contact the orange block on the table, adjusting finger positions while slightly shifting the block to re-establish a stable grip."}, {"label": "subtasks", "start_step": 2152, "end_step": 2234, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the orange block on the table surface without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts and closes fingers around the orange block resting on the dark table to form a stable grasp."}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange block completely off the table surface and moves it over the adjacent stacked green and blue block."}, {"label": "subtasks", "start_step": 2280, "end_step": 2324, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand lowers the orange block to align with the connection points on top of the green and blue block, pressing slightly to fit the two blocks together."}, {"label": "subtasks", "start_step": 2325, "end_step": 2467, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the fully assembled stack of blocks on the table surface without any observable movement of the hand or blocks."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release contact with the top orange block, separating the hand from the assembled block stack."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the stacked colorful blocks resting on the dark table, losing contact with the blocks."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves upward and rightward with empty hand, retreating away from the stacked blocks on the table."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00045", "text": "Left hand: retreat: Left hand moves upward and backward with empty hand, retreating from the previous outstretched left position. | Right hand: retreat: Right hand moves upward and rightward with empty hand, retreating away from the stacked blocks on the table."}], "episode_index": 15}
+{"source_uid": "954aea526dcb9d38", "num_frames": 1352, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "S", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward from the right side of the table toward the small green block without contacting any object."}, {"label": "valid", "start_step": 0, "end_step": 1308, "id": "SD98I8KyOSwByvtLFOYuF"}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the small green block on the black tabletop to establish stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 329, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00004", "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 off the black table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00005", "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 rightward above the longer green block."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00006", "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 onto the longer green block."}, {"label": "subtasks", "start_step": 405, "end_step": 644, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the blue block on the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "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 grasps the blue block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the dark gray surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "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 from the dark gray surface and transports it above the small green block."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "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 onto the top of the small green block."}, {"label": "subtasks", "start_step": 810, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the small green block to secure the assembly."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the blue block and separates from it."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the orange block on the black table surface without touching the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the orange block and adjusts fingers to form a stable grip on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table surface and transports it to above the blue block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the top of the blue block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1259, "id": "reasoning-language-00019", "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 to attach it firmly to the blue block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the orange block and moves fingers away from the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1351, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "home", "start_step": 1309, "end_step": 1351, "id": "OyJmg3hX2RrlfvcsuIXmy"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward from the right side of the table toward the small green block without contacting any object."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the small green block on the black tabletop to establish stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 329, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00004", "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 off the black table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00005", "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 rightward above the longer green block."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00006", "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 onto the longer green block."}, {"label": "subtasks", "start_step": 405, "end_step": 644, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the blue block on the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "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 grasps the blue block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the dark gray surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "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 from the dark gray surface and transports it above the small green block."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "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 onto the top of the small green block."}, {"label": "subtasks", "start_step": 810, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the small green block to secure the assembly."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the blue block and separates from it."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the orange block on the black table surface without touching the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the orange block and adjusts fingers to form a stable grip on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table surface and transports it to above the blue block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the top of the blue block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1259, "id": "reasoning-language-00019", "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 to attach it firmly to the blue block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the orange block and moves fingers away from the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1351, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}], "episode_index": 16}
+{"source_uid": "d36620069b8d16f1", "num_frames": 1516, "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": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: idle: Right hand remains empty and stationary at the right upper side of the workspace, not yet moving toward the small green 2x2 lego brick."}, {"label": "valid", "start_step": 0, "end_step": 1475, "id": "3EI2xk0CWK76hyvs91VZd"}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves downward with slightly open fingers, approaching the small green 2x2 lego brick placed on the black table surface, without making contact with the brick."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand positions fingers around the small green 2x2 lego brick, adjusting finger placement to initiate contact and prepare for grasping the brick, which remains on the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand moves its fingers around the small green lego brick on the dark surface, closing and adjusting finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand moves upward to lift the securely grasped small green lego brick completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand carries the lifted small green lego brick horizontally toward the larger green lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: place: Right hand lowers the small green lego brick downward until it rests on the top surface of the larger green lego brick."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate: Right hand adjusts the position and orientation of the small green lego brick to align it with the larger green lego brick, applying light downward pressure to seat the bricks together."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: release: Right hand opens its fingers to release its grip on the aligned small green lego brick."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves from the position near the green lego base toward the adjacent small blue 2x2 lego block, with fingers slightly open and not yet in contact with the blue block."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand contacts the small blue 2x2 lego block, gradually closing fingers and adjusting contact positions to establish a stable grasp while the block remains on the dark supporting surface."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table."}, {"label": "subtasks", "start_step": 555, "end_step": 561, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes fingers around the small blue lego brick on the dark table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand raises the grasped small blue lego brick upward until the brick is fully separated from the table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand carries the grasped small blue lego brick horizontally to position it directly above the small green lego brick."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate_release: Right hand aligns the small blue lego brick with connection points on the green lego brick, presses down to attach the two bricks together, opening fingers to release the blue brick."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: idle: Right hand remains empty adjacent to the stacked lego bricks without any observable movement."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves empty from the area near the stacked blue and green bricks toward the small orange 2x2 brick on the dark flat surface, with fingers extended to approach the target."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes fingers around the small orange 2x2 brick, adjusting finger contact to form a stable grip while the brick remains resting on the dark surface."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: hold: Right hand holds the small orange 2x2 brick steadily on the dark flat surface, with no observable movement of the hand, fingers or the gripped brick."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand moves upward while gripping the small orange 2x2 brick, lifting the brick partially away from the dark supporting surface."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand holds the small orange lego brick and moves it leftward above the dark table surface toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: release: Right hand opens its fingers to release the small orange lego brick, which falls and rests on the dark table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves downward with open fingers, approaching the small orange lego brick resting on the table."}, {"label": "subtasks", "start_step": 908, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes its fingers around the small orange lego brick on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes its fingers around the small orange lego brick on the dark table surface to adjust and establish a stable re-grasp."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift_transport: Right hand lifts the grasped small orange lego brick off the dark table surface and moves it downward to position it over the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1118, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate: Right hand adjusts the position of the small orange lego brick to align it with the studs on the stacked green and blue lego bricks, pressing it slightly to fit the two pieces together."}, {"label": "subtasks", "start_step": 1260, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach_grasp: Right hand moves toward the orange lego brick, adjusts finger positions to establish stable contact with the lego stack and aligns the index finger over the top of the orange lego brick."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: press: Right hand presses vertically down on the top surface of the orange lego brick resting on the underlying lego stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: return_home: Left hand rotates its wrist to face the palm forward, extends fingers from a slightly curled posture to a straight upward-pointing posture, and moves slightly upward to return to its initial raised home position. | Right hand: return_home: Right hand rotates its wrist to face the palm forward, extends fingers from a curled grasping posture to a straight upward-pointing posture, and moves upward away from the stacked blocks on the table to return to its initial raised home position."}, {"label": "home", "start_step": 1476, "end_step": 1515, "id": "BItnKvJYn7scnP1K019Vl"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: idle: Right hand remains empty and stationary at the right upper side of the workspace, not yet moving toward the small green 2x2 lego brick."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves downward with slightly open fingers, approaching the small green 2x2 lego brick placed on the black table surface, without making contact with the brick."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand positions fingers around the small green 2x2 lego brick, adjusting finger placement to initiate contact and prepare for grasping the brick, which remains on the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand moves its fingers around the small green lego brick on the dark surface, closing and adjusting finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand moves upward to lift the securely grasped small green lego brick completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand carries the lifted small green lego brick horizontally toward the larger green lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: place: Right hand lowers the small green lego brick downward until it rests on the top surface of the larger green lego brick."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate: Right hand adjusts the position and orientation of the small green lego brick to align it with the larger green lego brick, applying light downward pressure to seat the bricks together."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: release: Right hand opens its fingers to release its grip on the aligned small green lego brick."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves from the position near the green lego base toward the adjacent small blue 2x2 lego block, with fingers slightly open and not yet in contact with the blue block."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand contacts the small blue 2x2 lego block, gradually closing fingers and adjusting contact positions to establish a stable grasp while the block remains on the dark supporting surface."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table."}, {"label": "subtasks", "start_step": 555, "end_step": 561, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes fingers around the small blue lego brick on the dark table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand raises the grasped small blue lego brick upward until the brick is fully separated from the table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand carries the grasped small blue lego brick horizontally to position it directly above the small green lego brick."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate_release: Right hand aligns the small blue lego brick with connection points on the green lego brick, presses down to attach the two bricks together, opening fingers to release the blue brick."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: idle: Right hand remains empty adjacent to the stacked lego bricks without any observable movement."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves empty from the area near the stacked blue and green bricks toward the small orange 2x2 brick on the dark flat surface, with fingers extended to approach the target."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes fingers around the small orange 2x2 brick, adjusting finger contact to form a stable grip while the brick remains resting on the dark surface."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: hold: Right hand holds the small orange 2x2 brick steadily on the dark flat surface, with no observable movement of the hand, fingers or the gripped brick."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand moves upward while gripping the small orange 2x2 brick, lifting the brick partially away from the dark supporting surface."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand holds the small orange lego brick and moves it leftward above the dark table surface toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: release: Right hand opens its fingers to release the small orange lego brick, which falls and rests on the dark table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves downward with open fingers, approaching the small orange lego brick resting on the table."}, {"label": "subtasks", "start_step": 908, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes its fingers around the small orange lego brick on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes its fingers around the small orange lego brick on the dark table surface to adjust and establish a stable re-grasp."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift_transport: Right hand lifts the grasped small orange lego brick off the dark table surface and moves it downward to position it over the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1118, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate: Right hand adjusts the position of the small orange lego brick to align it with the studs on the stacked green and blue lego bricks, pressing it slightly to fit the two pieces together."}, {"label": "subtasks", "start_step": 1260, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach_grasp: Right hand moves toward the orange lego brick, adjusts finger positions to establish stable contact with the lego stack and aligns the index finger over the top of the orange lego brick."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: press: Right hand presses vertically down on the top surface of the orange lego brick resting on the underlying lego stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: return_home: Left hand rotates its wrist to face the palm forward, extends fingers from a slightly curled posture to a straight upward-pointing posture, and moves slightly upward to return to its initial raised home position. | Right hand: return_home: Right hand rotates its wrist to face the palm forward, extends fingers from a curled grasping posture to a straight upward-pointing posture, and moves upward away from the stacked blocks on the table to return to its initial raised home position."}], "episode_index": 17}
+{"source_uid": "27520d107344fc32", "num_frames": 1562, "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": 74, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and rotates slightly to face the building blocks on the table, keeping fingers slightly open and empty. | Right hand: reach: Right hand moves upward and rotates slightly to face the building blocks on the table, keeping fingers slightly open and empty."}, {"label": "valid", "start_step": 0, "end_step": 1526, "id": "Pid7_M2SzVXMHeSMZf0-Y"}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves downward and leftward toward the small green square block on the black surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green square block, with fingers closing around the block."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the small green block on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reorient: Right hand rotates the small green block about a quarter turn on the table surface, with the block staying in contact with the table."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the small green block on the table surface without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand reaches toward the small green block on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green block on the black table surface with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00009", "text": "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 block off the table and moves it rightward and downward toward the larger green block."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00010", "text": "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 block onto the larger green block on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its grip on the green block on the dark surface, with slight finger position adjustments."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reorient: Right hand slightly rotates and adjusts the pose of the green block on the dark surface, with the block staying on the surface."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: press: Right hand presses down on the green block on the dark surface to apply vertical pressure."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases its grip slightly, lifting fingers away from the top of the green block."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "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 re-grasps the green block on the dark surface, with fingers closing back onto the block."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: press: Right hand presses down on the green block again to secure it on the dark surface."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves rightward toward the blue square block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue square block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the blue square block on the dark table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the blue square block off the table and transports it leftward to the position above the green block."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00021", "text": "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 square block onto the green block and adjusts its position to align with the green block for assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the blue square block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue building block placed on the green building block, with fingers adjusting contact points to form a stable grip."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate_press: Right hand aligns the blue building block with the green building block below and presses it down to secure the assembly."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the assembled blue and green building blocks still without moving."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release_retreat: Right hand releases the blue building block and retreats backward away from the assembled blocks."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach_grasp: Right hand moves toward the orange square block on the table and closes its fingers to grasp the block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the orange square block resting on the table without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange square block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the orange square block off the table and transports it leftward to the position above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place_mate: Right hand places the orange square block onto the stacked green and blue blocks and adjusts it to mate with the lower block's studs."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the orange square block on top of the stacked green and blue blocks without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand holds the orange block and adjusts its position to align it with the blue block below for assembly."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00034", "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 block downward to secure it on top of the blue block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens its fingers and releases the orange block, moving slightly upward away from the block."}, {"label": "subtasks", "start_step": 1500, "end_step": 1561, "id": "reasoning-language-00036", "text": "Left hand: return_home: Left hand moves downward from the upper left area to the home position on the left side and stops. | Right hand: return_home: Right hand moves downward away from the block stack to the home position on the right side and stops."}, {"label": "home", "start_step": 1527, "end_step": 1561, "id": "2_o0dUxzHbfIMIszzOcnJ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and rotates slightly to face the building blocks on the table, keeping fingers slightly open and empty. | Right hand: reach: Right hand moves upward and rotates slightly to face the building blocks on the table, keeping fingers slightly open and empty."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves downward and leftward toward the small green square block on the black surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green square block, with fingers closing around the block."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the small green block on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reorient: Right hand rotates the small green block about a quarter turn on the table surface, with the block staying in contact with the table."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the small green block on the table surface without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand reaches toward the small green block on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green block on the black table surface with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00009", "text": "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 block off the table and moves it rightward and downward toward the larger green block."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00010", "text": "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 block onto the larger green block on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its grip on the green block on the dark surface, with slight finger position adjustments."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reorient: Right hand slightly rotates and adjusts the pose of the green block on the dark surface, with the block staying on the surface."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: press: Right hand presses down on the green block on the dark surface to apply vertical pressure."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases its grip slightly, lifting fingers away from the top of the green block."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "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 re-grasps the green block on the dark surface, with fingers closing back onto the block."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: press: Right hand presses down on the green block again to secure it on the dark surface."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves rightward toward the blue square block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue square block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the blue square block on the dark table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the blue square block off the table and transports it leftward to the position above the green block."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00021", "text": "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 square block onto the green block and adjusts its position to align with the green block for assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the blue square block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue building block placed on the green building block, with fingers adjusting contact points to form a stable grip."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate_press: Right hand aligns the blue building block with the green building block below and presses it down to secure the assembly."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the assembled blue and green building blocks still without moving."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release_retreat: Right hand releases the blue building block and retreats backward away from the assembled blocks."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach_grasp: Right hand moves toward the orange square block on the table and closes its fingers to grasp the block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the orange square block resting on the table without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange square block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the orange square block off the table and transports it leftward to the position above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place_mate: Right hand places the orange square block onto the stacked green and blue blocks and adjusts it to mate with the lower block's studs."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the orange square block on top of the stacked green and blue blocks without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand holds the orange block and adjusts its position to align it with the blue block below for assembly."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00034", "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 block downward to secure it on top of the blue block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens its fingers and releases the orange block, moving slightly upward away from the block."}, {"label": "subtasks", "start_step": 1500, "end_step": 1561, "id": "reasoning-language-00036", "text": "Left hand: return_home: Left hand moves downward from the upper left area to the home position on the left side and stops. | Right hand: return_home: Right hand moves downward away from the block stack to the home position on the right side and stops."}], "episode_index": 18}
+{"source_uid": "7d262ad480341519", "num_frames": 1174, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:move_upwards: Left hand moves upwards empty-handed, no contact with any operating objects. | Right hand: reach: Right hand moves downwards towards the small green block on the black table, empty-handed, without touching the block."}, {"label": "valid", "start_step": 0, "end_step": 1132, "id": "OOviT3vsSyindy2nFhDLf"}, {"label": "subtasks", "start_step": 52, "end_step": 104, "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 towards the small green block on the black table, empty-handed, without touching the block."}, {"label": "subtasks", "start_step": 105, "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 closes fingers to contact and grasp the small green block on the black table."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the small green block on the black surface."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the small green block off the black surface and moves it towards the larger green block."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00006", "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 larger green block placed on the black surface."}, {"label": "subtasks", "start_step": 248, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the small green block downward onto the larger green block."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the small green block, fingers gradually open and separate from the block."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: retreat: Right hand moves away from the assembled green blocks to the right side."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves towards the blue block placed on the black table."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the blue block on the black table."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the blue block resting on the black surface."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the blue block away from the black surface and moves it towards the stacked green blocks."}, {"label": "subtasks", "start_step": 615, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand lowers the blue block onto the top of the stacked green blocks."}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand adjusts the position of the blue block to align it with the connection points of the green blocks."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the blue block downwards to attach it firmly to the green blocks."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the orange block onto the black table, with fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "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 towards the orange block that is placed on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 table, with fingers closing to adjust and stabilize the grip."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block on the black tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the orange block off the tabletop and transports it to above the blue block."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "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 orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 908, "end_step": 1101, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the orange block downwards to mate it with the blue block securely."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the orange block and retreats from the assembled blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand moves slightly upwards at the left side of the frame, empty-handed. | Right hand: retreat: Right hand moves upwards and to the right, retreating from the operation position near the colorful building blocks, empty-handed."}, {"label": "home", "start_step": 1133, "end_step": 1173, "id": "ZLK6dQ0hlID_GbZIegDIX"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:move_upwards: Left hand moves upwards empty-handed, no contact with any operating objects. | Right hand: reach: Right hand moves downwards towards the small green block on the black table, empty-handed, without touching the block."}, {"label": "subtasks", "start_step": 52, "end_step": 104, "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 towards the small green block on the black table, empty-handed, without touching the block."}, {"label": "subtasks", "start_step": 105, "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 closes fingers to contact and grasp the small green block on the black table."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the small green block on the black surface."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the small green block off the black surface and moves it towards the larger green block."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00006", "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 larger green block placed on the black surface."}, {"label": "subtasks", "start_step": 248, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the small green block downward onto the larger green block."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the small green block, fingers gradually open and separate from the block."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: retreat: Right hand moves away from the assembled green blocks to the right side."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves towards the blue block placed on the black table."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the blue block on the black table."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the blue block resting on the black surface."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the blue block away from the black surface and moves it towards the stacked green blocks."}, {"label": "subtasks", "start_step": 615, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand lowers the blue block onto the top of the stacked green blocks."}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand adjusts the position of the blue block to align it with the connection points of the green blocks."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the blue block downwards to attach it firmly to the green blocks."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the orange block onto the black table, with fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "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 towards the orange block that is placed on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 table, with fingers closing to adjust and stabilize the grip."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block on the black tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the orange block off the tabletop and transports it to above the blue block."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "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 orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 908, "end_step": 1101, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the orange block downwards to mate it with the blue block securely."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the orange block and retreats from the assembled blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand moves slightly upwards at the left side of the frame, empty-handed. | Right hand: retreat: Right hand moves upwards and to the right, retreating from the operation position near the colorful building blocks, empty-handed."}], "episode_index": 19}
+{"source_uid": "8d10368d0acd926a", "num_frames": 1767, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand remains empty at its upper right home position without any observable movement."}, {"label": "valid", "start_step": 0, "end_step": 1721, "id": "w5bEXh_a2xTN0z6_IGUGP"}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves downward toward the small green 2x2 brick on the black table surface, with fingers held in a slightly extended open posture."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the small green 2x2 brick, closes fingers around the brick and makes small wrist and finger adjustments to establish grip, while the brick remains resting on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand extends fingers slightly to open the grip, releasing the small green 2x2 brick resting on the dark work surface."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves with empty open fingers toward the small green 2x2 brick on the dark work surface."}, {"label": "subtasks", "start_step": 240, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the small green 2x2 brick, adjusting finger positions and grip to form a stable hold, slightly lifting the brick during adjustment."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small green 2x2 brick steadily with no observable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves toward the upright small green 2x2 brick on the dark gray table surface, adjusting finger positions to approach the brick without making stable contact."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls fingers to contact the upright green brick, fails to establish a stable grasp, and knocks the brick over to lie flat on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves over the toppled flat green brick, adjusting its position and finger posture to re-align with the target brick."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand stays empty beside the toppled green brick on the table, with no visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 510, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls fingers around the flat green brick, making small continuous adjustments to finger contact points and grip tension to form a stable grasp, while the brick remains supported by the table."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: lift: Right hand moves upward with the stably grasped green brick, lifting the brick completely away from the table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: transport: Right hand holds the small light green brick and transports it downward toward the larger light green brick placed on the dark flat surface."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: place: Right hand lowers the small light green brick to place it on the upper surface of the larger light green brick, until the small brick is fully supported by the larger one."}, {"label": "subtasks", "start_step": 705, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small light green brick on top of the larger light green brick without any visible movement or finger adjustment."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers gradually to release the grip on the small light green brick, separating from the brick surface."}, {"label": "subtasks", "start_step": 825, "end_step": 907, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand remains empty in the area adjacent to the stacked green bricks without visible movement."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach_grasp: Right hand moves a short distance toward the small light green brick and closes its fingers to establish a stable grasp on the brick."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: press: Right hand applies downward pressure on the small light green brick to press it against the larger green brick below."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small light green brick on the larger green brick without visible movement of the hand, wrist or fingers."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers while moving upward to release the small light green brick, leaving the brick resting on the larger green brick."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves upward with an empty hand, retreating away from the stacked green bricks."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves rightward toward the blue 2x2 lego brick on the dark work surface, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls its fingers inward to close around the blue 2x2 lego brick, forming a stable grip on the brick while the brick remains on the work surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1244, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: mate: Right hand moves the grasped blue 2x2 lego brick leftward along the dark work surface to align with the adjacent green lego brick, presses down slightly to attach the two bricks together."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the attached blue lego brick, breaking contact between the hand and the brick surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves rightward away from the assembled lego bricks, with fingers held in a slightly spread position."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves leftward toward the orange 2x2 lego brick on the dark table surface, with fingers held slightly open as it approaches the brick."}, {"label": "subtasks", "start_step": 1312, "end_step": 1387, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls its fingers to close around the orange 2x2 lego brick, making small finger adjustments to form a stable grasp while the brick remains resting on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped orange 2x2 lego brick off the table surface, moving leftward to carry the brick toward the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: place: Right hand lowers the orange 2x2 lego brick onto the top surface of the stacked green and blue lego bricks until the orange brick is supported by the stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to align the orange 2x2 lego brick with the connection points on the stacked lego bricks, fitting the bricks into an assembled position."}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled orange lego brick in place on top of the stacked green and blue lego bricks without observable movement."}, {"label": "subtasks", "start_step": 1620, "end_step": 1694, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand extends its fingers and opens them to release the stacked lego blocks resting on the dark table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves upward with empty hand, retreating away from the released lego stack on the table."}, {"label": "home", "start_step": 1722, "end_step": 1766, "id": "QeqxOFFFETogdxFhtWnjb"}, {"label": "subtasks", "start_step": 1725, "end_step": 1766, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand remains empty at its upper right home position without any observable movement."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves downward toward the small green 2x2 brick on the black table surface, with fingers held in a slightly extended open posture."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the small green 2x2 brick, closes fingers around the brick and makes small wrist and finger adjustments to establish grip, while the brick remains resting on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand extends fingers slightly to open the grip, releasing the small green 2x2 brick resting on the dark work surface."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves with empty open fingers toward the small green 2x2 brick on the dark work surface."}, {"label": "subtasks", "start_step": 240, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the small green 2x2 brick, adjusting finger positions and grip to form a stable hold, slightly lifting the brick during adjustment."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small green 2x2 brick steadily with no observable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves toward the upright small green 2x2 brick on the dark gray table surface, adjusting finger positions to approach the brick without making stable contact."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls fingers to contact the upright green brick, fails to establish a stable grasp, and knocks the brick over to lie flat on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves over the toppled flat green brick, adjusting its position and finger posture to re-align with the target brick."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand stays empty beside the toppled green brick on the table, with no visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 510, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls fingers around the flat green brick, making small continuous adjustments to finger contact points and grip tension to form a stable grasp, while the brick remains supported by the table."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: lift: Right hand moves upward with the stably grasped green brick, lifting the brick completely away from the table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: transport: Right hand holds the small light green brick and transports it downward toward the larger light green brick placed on the dark flat surface."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: place: Right hand lowers the small light green brick to place it on the upper surface of the larger light green brick, until the small brick is fully supported by the larger one."}, {"label": "subtasks", "start_step": 705, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small light green brick on top of the larger light green brick without any visible movement or finger adjustment."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers gradually to release the grip on the small light green brick, separating from the brick surface."}, {"label": "subtasks", "start_step": 825, "end_step": 907, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand remains empty in the area adjacent to the stacked green bricks without visible movement."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach_grasp: Right hand moves a short distance toward the small light green brick and closes its fingers to establish a stable grasp on the brick."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: press: Right hand applies downward pressure on the small light green brick to press it against the larger green brick below."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small light green brick on the larger green brick without visible movement of the hand, wrist or fingers."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers while moving upward to release the small light green brick, leaving the brick resting on the larger green brick."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves upward with an empty hand, retreating away from the stacked green bricks."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves rightward toward the blue 2x2 lego brick on the dark work surface, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls its fingers inward to close around the blue 2x2 lego brick, forming a stable grip on the brick while the brick remains on the work surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1244, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: mate: Right hand moves the grasped blue 2x2 lego brick leftward along the dark work surface to align with the adjacent green lego brick, presses down slightly to attach the two bricks together."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the attached blue lego brick, breaking contact between the hand and the brick surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves rightward away from the assembled lego bricks, with fingers held in a slightly spread position."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves leftward toward the orange 2x2 lego brick on the dark table surface, with fingers held slightly open as it approaches the brick."}, {"label": "subtasks", "start_step": 1312, "end_step": 1387, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls its fingers to close around the orange 2x2 lego brick, making small finger adjustments to form a stable grasp while the brick remains resting on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped orange 2x2 lego brick off the table surface, moving leftward to carry the brick toward the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: place: Right hand lowers the orange 2x2 lego brick onto the top surface of the stacked green and blue lego bricks until the orange brick is supported by the stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to align the orange 2x2 lego brick with the connection points on the stacked lego bricks, fitting the bricks into an assembled position."}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled orange lego brick in place on top of the stacked green and blue lego bricks without observable movement."}, {"label": "subtasks", "start_step": 1620, "end_step": 1694, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand extends its fingers and opens them to release the stacked lego blocks resting on the dark table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves upward with empty hand, retreating away from the released lego stack on the table."}, {"label": "subtasks", "start_step": 1725, "end_step": 1766, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement."}], "episode_index": 20}
+{"source_uid": "1c6f60f8b1b373e9", "num_frames": 1461, "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": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly spreads its fingers to adjust posture while positioned in the upper left area, remaining empty with no contact to any objects. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture by slightly curving and spreading fingers while positioned in the upper right initial area, remaining empty without moving toward the Lego blocks."}, {"label": "valid", "start_step": 0, "end_step": 1411, "id": "H1QbeFI4-reHatPCashC6"}, {"label": "subtasks", "start_step": 45, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture by slightly curving and spreading fingers while positioned in the upper right initial area, remaining empty without moving toward the Lego blocks."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green Lego block on the black table surface, maintaining a curved pre-grasp finger posture as it approaches the block without making contact."}, {"label": "subtasks", "start_step": 105, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the small 2x2 green Lego block, making minor adjustments to finger contact points to form a stable grasp while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped small 2x2 green Lego block upward, fully separating the block from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate: Right hand holds the small light green Lego block, moves it downward to align it with the larger light green Lego block on the dark work surface to enter the assembly position."}, {"label": "subtasks", "start_step": 240, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press: Right hand presses down vertically on the aligned small light green Lego block to secure and embed it onto the larger light green Lego block."}, {"label": "subtasks", "start_step": 338, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: release: Right hand opens its fingers gradually to release the embedded small light green Lego block, moving fingers away from the grasping position."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains stationary near the assembled Lego blocks without grasping any object, with no observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves from above the green lego block toward the blue lego block on the dark table surface, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 472, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp_lift: Right hand closes fingers around the blue lego block on the dark table surface, adjusts grip to secure the block, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: transport_release: Right hand holds the blue lego block, moves it a short distance across the table area, and opens fingers to release the block as it falls toward the surface."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains empty near the green and orange lego blocks without moving."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach_reorient: Right hand moves left and downward from above the green block toward the blue block on the dark table, contacts the block and rotates it roughly 180 degrees to turn its studded top face upward while the block stays in nearly the same position."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand makes slight positional adjustments above the flipped blue block, repositioning fingers to prepare for gripping the block."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the blue block, making small adjustments to finger contact points to form a stable grip on the block while it rests on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the blue block steadily on the table surface, with no observable movement of the hand, fingers, or the gripped block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand maintains grip on the blue block, lifts it completely off the table surface, and moves it rightward to a position next to the green block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: place_release: Right hand lowers the blue block to rest on the table at the new position, then opens fingers to release the block and remains adjacent to the placed block."}, {"label": "subtasks", "start_step": 855, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the blue building block placed on the dark gray table with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 908, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the blue building block to form a stable grasp, with the block resting on the dark gray table surface."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift: Right hand raises the grasped blue building block upward to lift it completely off the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: transport: Right hand moves while holding the blue building block, carrying it toward the adjacent green building block on the table."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the held blue building block to align its connection points with the top connection points of the green building block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press_release: Right hand exerts downward pressure on the aligned blue building block to attach it to the green block, and opens fingers to release the connected blocks."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the small orange block on the dark table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the orange block resting on the table, making slight finger adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange block off the table surface and moves it horizontally to a position above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1268, "end_step": 1341, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate_release: Right hand aligns and fits the orange block onto the top of the stacked green and blue blocks, with fingers opening to release the connected block."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand extends the index finger and moves toward the top surface of the assembled orange block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press_retreat: Right index finger presses downward on the top surface of the orange block to secure the assembly, slightly retreating away from the block surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: return_home: Left hand moves toward the body-side home position and rotates about a quarter turn, adjusting its posture from fingers pointing rightward to fingers pointing upward. | Right hand: return_home: Right hand moves away from the stacked blocks toward the body-side home position and rotates about a quarter turn, adjusting its posture from a block-facing open posture to fingers pointing upward."}, {"label": "home", "start_step": 1412, "end_step": 1460, "id": "GjJVRWL0J9QffXVtjYlrj"}, {"label": "subtasks", "start_step": 1448, "end_step": 1460, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without any visible movement. | Right hand: idle: Right hand remains empty and stationary at the right home position without any visible movement."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly spreads its fingers to adjust posture while positioned in the upper left area, remaining empty with no contact to any objects. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture by slightly curving and spreading fingers while positioned in the upper right initial area, remaining empty without moving toward the Lego blocks."}, {"label": "subtasks", "start_step": 45, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture by slightly curving and spreading fingers while positioned in the upper right initial area, remaining empty without moving toward the Lego blocks."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green Lego block on the black table surface, maintaining a curved pre-grasp finger posture as it approaches the block without making contact."}, {"label": "subtasks", "start_step": 105, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the small 2x2 green Lego block, making minor adjustments to finger contact points to form a stable grasp while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped small 2x2 green Lego block upward, fully separating the block from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate: Right hand holds the small light green Lego block, moves it downward to align it with the larger light green Lego block on the dark work surface to enter the assembly position."}, {"label": "subtasks", "start_step": 240, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press: Right hand presses down vertically on the aligned small light green Lego block to secure and embed it onto the larger light green Lego block."}, {"label": "subtasks", "start_step": 338, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: release: Right hand opens its fingers gradually to release the embedded small light green Lego block, moving fingers away from the grasping position."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains stationary near the assembled Lego blocks without grasping any object, with no observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves from above the green lego block toward the blue lego block on the dark table surface, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 472, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp_lift: Right hand closes fingers around the blue lego block on the dark table surface, adjusts grip to secure the block, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: transport_release: Right hand holds the blue lego block, moves it a short distance across the table area, and opens fingers to release the block as it falls toward the surface."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains empty near the green and orange lego blocks without moving."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach_reorient: Right hand moves left and downward from above the green block toward the blue block on the dark table, contacts the block and rotates it roughly 180 degrees to turn its studded top face upward while the block stays in nearly the same position."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand makes slight positional adjustments above the flipped blue block, repositioning fingers to prepare for gripping the block."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the blue block, making small adjustments to finger contact points to form a stable grip on the block while it rests on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the blue block steadily on the table surface, with no observable movement of the hand, fingers, or the gripped block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand maintains grip on the blue block, lifts it completely off the table surface, and moves it rightward to a position next to the green block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: place_release: Right hand lowers the blue block to rest on the table at the new position, then opens fingers to release the block and remains adjacent to the placed block."}, {"label": "subtasks", "start_step": 855, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the blue building block placed on the dark gray table with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 908, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the blue building block to form a stable grasp, with the block resting on the dark gray table surface."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift: Right hand raises the grasped blue building block upward to lift it completely off the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: transport: Right hand moves while holding the blue building block, carrying it toward the adjacent green building block on the table."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the held blue building block to align its connection points with the top connection points of the green building block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press_release: Right hand exerts downward pressure on the aligned blue building block to attach it to the green block, and opens fingers to release the connected blocks."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the small orange block on the dark table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the orange block resting on the table, making slight finger adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange block off the table surface and moves it horizontally to a position above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1268, "end_step": 1341, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate_release: Right hand aligns and fits the orange block onto the top of the stacked green and blue blocks, with fingers opening to release the connected block."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand extends the index finger and moves toward the top surface of the assembled orange block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press_retreat: Right index finger presses downward on the top surface of the orange block to secure the assembly, slightly retreating away from the block surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: return_home: Left hand moves toward the body-side home position and rotates about a quarter turn, adjusting its posture from fingers pointing rightward to fingers pointing upward. | Right hand: return_home: Right hand moves away from the stacked blocks toward the body-side home position and rotates about a quarter turn, adjusting its posture from a block-facing open posture to fingers pointing upward."}, {"label": "subtasks", "start_step": 1448, "end_step": 1460, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without any visible movement. | Right hand: idle: Right hand remains empty and stationary at the right home position without any visible movement."}], "episode_index": 21}
+{"source_uid": "c514522dc977a7d4", "num_frames": 1101, "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": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves forward and downward toward the building blocks placed on the black table."}, {"label": "valid", "start_step": 0, "end_step": 1060, "id": "pPLdzg1mhCGktlNvT0WTH"}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves towards the small green building block on the black surface."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small green building block, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block off the black surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block up from the black surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the small green building block toward the larger green building block."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the small green building block onto the larger green building block."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the small green building block on the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block completely off the black table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the small green building block to the position above the larger green building block."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand lowers the small green building block onto the top surface of the larger green building block."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens its fingers to release the small green building block."}, {"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the small green building block placed on the black surface by opening its fingers."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the blue building block on the black surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue building block on the black table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 465, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the blue building block on the black table without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the blue building block from the table surface and transports it above the green building block."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the blue building block onto the top surface of the green building block."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the blue building block down to mate with the green building block."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the blue building block with fingers opening."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the blue building block placed on the gray work surface."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the orange building block on the gray work surface."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the orange building block on the gray work surface."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the orange building block on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the orange building block from the tabletop and transports it toward the stacked blue and green building blocks."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the orange building block onto the top of the stacked blue building block."}, {"label": "subtasks", "start_step": 848, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the orange building block down onto the blue building block to complete the assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the orange building block on top of the stacked blocks."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand moves backward away from the building blocks."}, {"label": "home", "start_step": 1061, "end_step": 1100, "id": "lXt4IdTGs8qvxbZtTWnrX"}, {"label": "subtasks", "start_step": 1065, "end_step": 1100, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves forward and downward toward the building blocks placed on the black table."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves towards the small green building block on the black surface."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small green building block, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block off the black surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block up from the black surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the small green building block toward the larger green building block."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the small green building block onto the larger green building block."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the small green building block on the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block completely off the black table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the small green building block to the position above the larger green building block."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand lowers the small green building block onto the top surface of the larger green building block."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens its fingers to release the small green building block."}, {"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the small green building block placed on the black surface by opening its fingers."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the blue building block on the black surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue building block on the black table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 465, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the blue building block on the black table without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the blue building block from the table surface and transports it above the green building block."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the blue building block onto the top surface of the green building block."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the blue building block down to mate with the green building block."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the blue building block with fingers opening."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the blue building block placed on the gray work surface."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the orange building block on the gray work surface."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the orange building block on the gray work surface."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the orange building block on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the orange building block from the tabletop and transports it toward the stacked blue and green building blocks."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the orange building block onto the top of the stacked blue building block."}, {"label": "subtasks", "start_step": 848, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the orange building block down onto the blue building block to complete the assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the orange building block on top of the stacked blocks."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand moves backward away from the building blocks."}, {"label": "subtasks", "start_step": 1065, "end_step": 1100, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving."}], "episode_index": 22}
+{"source_uid": "0e7d3ab963ce5806", "num_frames": 1590, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves upward from its initial upright position with fingers spreading open, rising to the upper left area while remaining empty. | Right hand: other:adjust_posture: Right hand moves upward from its initial upright position, adjusting wrist and finger posture as it moves to the upper right area, remaining empty."}, {"label": "valid", "start_step": 0, "end_step": 1545, "id": "oycya0kmDatWjS9wWL3AG"}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: other:adjust_posture: Left hand moves upward from its initial upright position with fingers spreading open, rising to the upper left area while remaining empty. | Right hand: reach: Right hand moves downward from the upper right area toward the small green block on the black table surface, fingers curving slightly as it approaches the target."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: other:adjust_posture: Left hand makes slight downward posture adjustments at the upper left area, keeping fingers spread and not touching any blocks on the table. | Right hand: reach: Right hand moves downward from the upper right area toward the small green block on the black table surface, fingers curving slightly as it approaches the target."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: other:adjust_object_position: Right hand makes contact with the small green Lego brick on the dark table surface, adjusting its position by sliding the brick slightly across the table with small finger and wrist movements."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand, now empty, moves slightly upward and away from the small green Lego brick after releasing contact with it."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves downward through the air toward the small green Lego brick, approaching the brick without making contact."}, {"label": "subtasks", "start_step": 248, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: other:adjust_object_position: Right hand makes contact with the small green Lego brick again, adjusting its position on the dark table surface via small finger and wrist movements."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift_transport: Right hand holds the small green lego brick, lifts it from the table surface and moves it downward to make contact with the larger flat green lego brick."}, {"label": "subtasks", "start_step": 368, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: mate: Right hand adjusts the position of the small green lego brick on the larger flat green lego brick to align their interlocking points, with fingers making fine positional adjustments to the brick."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand presses vertically down on the aligned small green lego brick to fasten it securely to the larger flat green lego brick."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: release: Right hand opens its fingers to release the fastened small green lego brick, breaking physical contact with the brick."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward away from the assembled green lego bricks as an empty hand."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves right across the dark table surface toward the small blue lego brick, with fingers held slightly open as it approaches the brick."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: grasp: Right hand adjusts the positions of its thumb and index finger around the small blue lego brick, closing fingers gradually to form a stable grip on the brick while the brick remains on the table."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift: Right hand holds the small blue lego brick and lifts it upward, raising the brick completely off the dark table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: transport: Right hand carries the lifted small blue lego brick, moving it downward and to the left across the table area."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: transport: Right hand holds the small blue lego brick and moves leftward toward the green lego brick."}, {"label": "subtasks", "start_step": 772, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: place: Right hand lowers the grasped small blue lego brick onto the table surface adjacent to the green lego brick until the brick is fully supported by the table."}, {"label": "subtasks", "start_step": 825, "end_step": 944, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: mate_release: Right hand adjusts the grasped blue lego brick to align tightly against the adjacent green lego brick, opening fingers to release the brick."}, {"label": "subtasks", "start_step": 945, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand uses fingers to press the top and side surfaces of the blue lego brick to secure its position next to the green lego brick on the table."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward and rightward away from the lego bricks, retreating from the operation area with an empty hand."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves upward and right toward the small orange lego brick on the dark gray surface, remaining empty with fingers slightly extended."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: grasp: Right hand closes fingers around the small orange lego brick, making slight positional adjustments of the fingers and wrist to form a stable grip while the brick stays on the dark gray surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift_transport: Right hand lifts the small orange lego brick completely off the dark gray surface and moves it downward and left toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: place: Right hand holds the small orange lego brick and moves it downward to place it on top of the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: hold: Right hand holds the stably placed small orange lego brick on the lego stack without obvious movement or adjustment."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: release: Right hand opens its fingers gradually to release the grasp on the orange lego brick, separating the fingers from the brick surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand positions its finger on the top surface of the orange lego brick and presses vertically downward to secure the brick to the stack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward and away from the lego stack as an empty hand after the pressing action."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward and backward with an empty hand to reach the home position and stops. | Right hand: return_home: Right hand moves upward and backward with an empty hand to reach the home position and stops."}, {"label": "home", "start_step": 1546, "end_step": 1589, "id": "R3hX75Xja5kZmWmH7cQ9z"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves upward from its initial upright position with fingers spreading open, rising to the upper left area while remaining empty. | Right hand: other:adjust_posture: Right hand moves upward from its initial upright position, adjusting wrist and finger posture as it moves to the upper right area, remaining empty."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: other:adjust_posture: Left hand moves upward from its initial upright position with fingers spreading open, rising to the upper left area while remaining empty. | Right hand: reach: Right hand moves downward from the upper right area toward the small green block on the black table surface, fingers curving slightly as it approaches the target."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: other:adjust_posture: Left hand makes slight downward posture adjustments at the upper left area, keeping fingers spread and not touching any blocks on the table. | Right hand: reach: Right hand moves downward from the upper right area toward the small green block on the black table surface, fingers curving slightly as it approaches the target."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: other:adjust_object_position: Right hand makes contact with the small green Lego brick on the dark table surface, adjusting its position by sliding the brick slightly across the table with small finger and wrist movements."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand, now empty, moves slightly upward and away from the small green Lego brick after releasing contact with it."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves downward through the air toward the small green Lego brick, approaching the brick without making contact."}, {"label": "subtasks", "start_step": 248, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: other:adjust_object_position: Right hand makes contact with the small green Lego brick again, adjusting its position on the dark table surface via small finger and wrist movements."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift_transport: Right hand holds the small green lego brick, lifts it from the table surface and moves it downward to make contact with the larger flat green lego brick."}, {"label": "subtasks", "start_step": 368, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: mate: Right hand adjusts the position of the small green lego brick on the larger flat green lego brick to align their interlocking points, with fingers making fine positional adjustments to the brick."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand presses vertically down on the aligned small green lego brick to fasten it securely to the larger flat green lego brick."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: release: Right hand opens its fingers to release the fastened small green lego brick, breaking physical contact with the brick."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward away from the assembled green lego bricks as an empty hand."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves right across the dark table surface toward the small blue lego brick, with fingers held slightly open as it approaches the brick."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: grasp: Right hand adjusts the positions of its thumb and index finger around the small blue lego brick, closing fingers gradually to form a stable grip on the brick while the brick remains on the table."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift: Right hand holds the small blue lego brick and lifts it upward, raising the brick completely off the dark table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: transport: Right hand carries the lifted small blue lego brick, moving it downward and to the left across the table area."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: transport: Right hand holds the small blue lego brick and moves leftward toward the green lego brick."}, {"label": "subtasks", "start_step": 772, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: place: Right hand lowers the grasped small blue lego brick onto the table surface adjacent to the green lego brick until the brick is fully supported by the table."}, {"label": "subtasks", "start_step": 825, "end_step": 944, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: mate_release: Right hand adjusts the grasped blue lego brick to align tightly against the adjacent green lego brick, opening fingers to release the brick."}, {"label": "subtasks", "start_step": 945, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand uses fingers to press the top and side surfaces of the blue lego brick to secure its position next to the green lego brick on the table."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward and rightward away from the lego bricks, retreating from the operation area with an empty hand."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves upward and right toward the small orange lego brick on the dark gray surface, remaining empty with fingers slightly extended."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: grasp: Right hand closes fingers around the small orange lego brick, making slight positional adjustments of the fingers and wrist to form a stable grip while the brick stays on the dark gray surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift_transport: Right hand lifts the small orange lego brick completely off the dark gray surface and moves it downward and left toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: place: Right hand holds the small orange lego brick and moves it downward to place it on top of the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: hold: Right hand holds the stably placed small orange lego brick on the lego stack without obvious movement or adjustment."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: release: Right hand opens its fingers gradually to release the grasp on the orange lego brick, separating the fingers from the brick surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand positions its finger on the top surface of the orange lego brick and presses vertically downward to secure the brick to the stack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward and away from the lego stack as an empty hand after the pressing action."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward and backward with an empty hand to reach the home position and stops. | Right hand: return_home: Right hand moves upward and backward with an empty hand to reach the home position and stops."}], "episode_index": 23}
+{"source_uid": "1a830be59ea0da02", "num_frames": 1642, "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": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly opens its fingers while staying raised at the upper left area of the table, with no obvious large position change. | Right hand: other:adjust_hand_posture: Right hand slightly opens its fingers while staying raised at the upper right area of the table, with no obvious large position change."}, {"label": "valid", "start_step": 0, "end_step": 1595, "id": "BDNYXOGIPlnK6O3JKrF99"}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: idle: Right hand remains empty and raised at the upper right of the table without obvious movement or posture change."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach: Right hand moves downward toward the colorful lego blocks on the table with an empty hand, approaching the blocks without forming a closed grasp."}, {"label": "subtasks", "start_step": 120, "end_step": 374, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand closes fingers around the small light green Lego brick on the dark work surface, making fine adjustments to finger contact points and wrist angle, rotating the brick slightly to establish a stable grip."}, {"label": "subtasks", "start_step": 375, "end_step": 547, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand holds the small light green Lego brick, adjusts its position and aligns it to the connection studs on the larger stacked light green Lego brick below."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses down on the top surface of the small light green Lego brick to fasten it to the larger light green Lego brick underneath."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: retreat: Right hand moves upward and backward away from the stacked light green Lego bricks while empty."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach_grasp: Right hand moves from the area near the stacked light green Lego bricks toward the blue Lego brick, closes fingers around the blue Lego brick, and makes continuous small adjustments of fingers and wrist to form a stable grip on the brick resting on the dark surface."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift: Right hand moves upward with the grasped blue Lego brick, lifting the brick completely away from the dark supporting surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: transport: Right hand carries the lifted blue Lego brick through the air, moving the brick toward the stacked light green Lego bricks."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand positions the blue Lego brick against the top of the stacked light green Lego bricks, makes small wrist and finger adjustments to align the bricks for assembly, and attaches the blue brick to the green brick stack."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand adjusts the positions of its fingers around the blue Lego brick on the dark work surface to form a stable, secure grip on the brick."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift: Right hand holds the blue Lego brick firmly and lifts it upward until the brick is completely lifted off the dark work surface."}, {"label": "subtasks", "start_step": 885, "end_step": 951, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: transport: Right hand carries the lifted blue Lego brick, moving it horizontally toward the stacked light green Lego brick while adjusting its position to align with the light green brick's top."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: place: Right hand lowers the blue Lego brick vertically until the brick rests fully on the top surface of the light green Lego brick, supported by the light green structure."}, {"label": "subtasks", "start_step": 982, "end_step": 1101, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses vertically down on the top of the blue Lego brick, making small finger adjustments to apply steady pressure to secure the connection between the two bricks."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release: Right hand opens its fingers gradually to release its grip on the blue Lego brick, with fingers beginning to move away from the brick."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach: Right hand moves toward the orange Lego brick on the black work surface with fingers slightly spread, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand makes contact with the orange Lego brick, fingers close around the brick and adjust slightly to form a stable grip while the brick remains resting on the work surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift_transport: Right hand lifts the orange Lego brick completely off the work surface and moves the brick toward the stacked green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand aligns the orange Lego brick with the top surface of the stacked green Lego brick, presses down slightly to fit the two bricks together."}, {"label": "subtasks", "start_step": 1320, "end_step": 1424, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand makes small finger and wrist adjustments to stabilize its grip on the orange Lego brick."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: place: Right hand moves the orange Lego brick downward to place it on top of the stacked blue Lego bricks, until the brick is supported by the blue stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1551, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses down on the top surface of the orange Lego brick to secure it to the underlying blue Lego stack."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}, {"label": "home", "start_step": 1596, "end_step": 1641, "id": "m-FD5ZfyO8RoUtB9OrmXN"}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00027", "text": "Left hand: return_home: Left hand moves upward and backward toward the left home position, rotates the wrist slightly to point fingers upward, and stops stationary at the home position. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly opens its fingers while staying raised at the upper left area of the table, with no obvious large position change. | Right hand: other:adjust_hand_posture: Right hand slightly opens its fingers while staying raised at the upper right area of the table, with no obvious large position change."}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: idle: Right hand remains empty and raised at the upper right of the table without obvious movement or posture change."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach: Right hand moves downward toward the colorful lego blocks on the table with an empty hand, approaching the blocks without forming a closed grasp."}, {"label": "subtasks", "start_step": 120, "end_step": 374, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand closes fingers around the small light green Lego brick on the dark work surface, making fine adjustments to finger contact points and wrist angle, rotating the brick slightly to establish a stable grip."}, {"label": "subtasks", "start_step": 375, "end_step": 547, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand holds the small light green Lego brick, adjusts its position and aligns it to the connection studs on the larger stacked light green Lego brick below."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses down on the top surface of the small light green Lego brick to fasten it to the larger light green Lego brick underneath."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: retreat: Right hand moves upward and backward away from the stacked light green Lego bricks while empty."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach_grasp: Right hand moves from the area near the stacked light green Lego bricks toward the blue Lego brick, closes fingers around the blue Lego brick, and makes continuous small adjustments of fingers and wrist to form a stable grip on the brick resting on the dark surface."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift: Right hand moves upward with the grasped blue Lego brick, lifting the brick completely away from the dark supporting surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: transport: Right hand carries the lifted blue Lego brick through the air, moving the brick toward the stacked light green Lego bricks."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand positions the blue Lego brick against the top of the stacked light green Lego bricks, makes small wrist and finger adjustments to align the bricks for assembly, and attaches the blue brick to the green brick stack."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand adjusts the positions of its fingers around the blue Lego brick on the dark work surface to form a stable, secure grip on the brick."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift: Right hand holds the blue Lego brick firmly and lifts it upward until the brick is completely lifted off the dark work surface."}, {"label": "subtasks", "start_step": 885, "end_step": 951, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: transport: Right hand carries the lifted blue Lego brick, moving it horizontally toward the stacked light green Lego brick while adjusting its position to align with the light green brick's top."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: place: Right hand lowers the blue Lego brick vertically until the brick rests fully on the top surface of the light green Lego brick, supported by the light green structure."}, {"label": "subtasks", "start_step": 982, "end_step": 1101, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses vertically down on the top of the blue Lego brick, making small finger adjustments to apply steady pressure to secure the connection between the two bricks."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release: Right hand opens its fingers gradually to release its grip on the blue Lego brick, with fingers beginning to move away from the brick."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach: Right hand moves toward the orange Lego brick on the black work surface with fingers slightly spread, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand makes contact with the orange Lego brick, fingers close around the brick and adjust slightly to form a stable grip while the brick remains resting on the work surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift_transport: Right hand lifts the orange Lego brick completely off the work surface and moves the brick toward the stacked green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand aligns the orange Lego brick with the top surface of the stacked green Lego brick, presses down slightly to fit the two bricks together."}, {"label": "subtasks", "start_step": 1320, "end_step": 1424, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand makes small finger and wrist adjustments to stabilize its grip on the orange Lego brick."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: place: Right hand moves the orange Lego brick downward to place it on top of the stacked blue Lego bricks, until the brick is supported by the blue stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1551, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses down on the top surface of the orange Lego brick to secure it to the underlying blue Lego stack."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00027", "text": "Left hand: return_home: Left hand moves upward and backward toward the left home position, rotates the wrist slightly to point fingers upward, and stops stationary at the home position. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}], "episode_index": 24}
+{"source_uid": "843d3ea6d9275624", "num_frames": 1285, "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": 74, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward, adjusts its finger postures, and approaches the building blocks above the black table. | Right hand: reach: Right hand moves upward, adjusts its finger postures, and approaches the blue building block above the black table."}, {"label": "valid", "start_step": 0, "end_step": 1237, "id": "UphKt82U_qPrggbP4JiqQ"}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small green block on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the small green block on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00004", "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 upward away from the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the small green block and transports it above the other green block placed on the table."}, {"label": "subtasks", "start_step": 278, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the small green block with the green block on the table to mate them together."}, {"label": "subtasks", "start_step": 338, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the small green block down onto the green block on the table to secure the assembly."}, {"label": "subtasks", "start_step": 382, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the small green block, separating from the block."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward slightly away from the assembled green blocks."}, {"label": "subtasks", "start_step": 480, "end_step": 614, "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 its fingers to form a stable grasp on the blue block on the table."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00011", "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 upwards off the table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00012", "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 horizontally to the position above the green block."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and places the blue block onto the green block for assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the grasped blue block."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the blue block downwards to tighten the assembly with the green block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the assembled blocks to the right side."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed on the table."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block off the table and transports it above the green-blue combined block."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top of the green-blue block to fit them together."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "id": "reasoning-language-00021", "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 green-blue block to secure the assembly."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the orange block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the assembled blocks without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: return_home: Left hand moves backward to its initial position on the left side while remaining empty. | Right hand: return_home: Right hand moves backward to its initial position on the right side while remaining empty."}, {"label": "home", "start_step": 1238, "end_step": 1284, "id": "u5yqm61Z7vl3N19MjkNXp"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward, adjusts its finger postures, and approaches the building blocks above the black table. | Right hand: reach: Right hand moves upward, adjusts its finger postures, and approaches the blue building block above the black table."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small green block on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the small green block on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00004", "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 upward away from the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the small green block and transports it above the other green block placed on the table."}, {"label": "subtasks", "start_step": 278, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the small green block with the green block on the table to mate them together."}, {"label": "subtasks", "start_step": 338, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the small green block down onto the green block on the table to secure the assembly."}, {"label": "subtasks", "start_step": 382, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the small green block, separating from the block."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward slightly away from the assembled green blocks."}, {"label": "subtasks", "start_step": 480, "end_step": 614, "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 its fingers to form a stable grasp on the blue block on the table."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00011", "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 upwards off the table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00012", "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 horizontally to the position above the green block."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and places the blue block onto the green block for assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the grasped blue block."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the blue block downwards to tighten the assembly with the green block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the assembled blocks to the right side."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed on the table."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block off the table and transports it above the green-blue combined block."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top of the green-blue block to fit them together."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "id": "reasoning-language-00021", "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 green-blue block to secure the assembly."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the orange block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the assembled blocks without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: return_home: Left hand moves backward to its initial position on the left side while remaining empty. | Right hand: return_home: Right hand moves backward to its initial position on the right side while remaining empty."}], "episode_index": 25}
+{"source_uid": "216477cf5f451482", "num_frames": 1116, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: idle: Right hand remains empty in the upper right raised position without active movement."}, {"label": "valid", "start_step": 0, "end_step": 1070, "id": "x8jdGjXV-1zeIVdLInPLg"}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves downward with extended fingers, approaching the small building blocks on the dark table surface without making contact with the blocks."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand makes contact with the small green and orange building blocks on the table, fingers closing and adjusting slightly to establish a grip on the blocks."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release: Right hand opens fingers to release the small light green Lego block and small orange Lego block, fully separating from both blocks by the end of the segment."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves with empty fingers toward the small light green Lego block on the dark work surface."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand adjusts extended finger positions to establish stable contact with the small light green Lego block on the dark surface without moving the block."}, {"label": "subtasks", "start_step": 255, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: push: Right hand uses extended fingers to push the small light green Lego block across the dark surface toward the larger green Lego block."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: hold: Right hand remains stationary with extended fingers contacting the small light green Lego block, which rests against the larger green Lego block with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: push_reach: Right hand index finger pushes the stacked light green Lego block slightly to shift its position on the dark gray work surface, with the finger moving away from the block toward the nearby orange Lego block."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: idle: Right hand stays stationary with the index finger resting on the small orange Lego block, no observable movement."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: other:adjust_lego_position: Right hand moves the index finger back to the stacked light green Lego block, presses and pushes the block to make small positional adjustments on the work surface, lifting the finger off the block and moving away at the end of the segment."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves toward the blue Lego block on the dark gray surface with fingers slightly spread and extended."}, {"label": "subtasks", "start_step": 502, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand curls fingers around the blue Lego block, making small adjustments to finger positions to secure the grip while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: transport: Right hand holds the secured blue Lego block and moves it horizontally toward the adjacent green Lego block."}, {"label": "subtasks", "start_step": 668, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: mate: Right hand adjusts the position of the blue Lego block to align and fit it onto the top surface of the green Lego block."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release_retreat: Right hand opens fingers to release the blue Lego block fitted on the green block, moving slightly away from the assembled blocks with an empty hand."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves toward the orange Lego block resting on the dark gray surface, with extended fingers approaching the target block."}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand curls fingers to close around the orange Lego block, adjusting finger contact points to form a stable grasp while the block remains on the dark gray supporting surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: lift: Right hand lifts the grasped orange Lego block upward until the block is completely separated from the dark gray supporting surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: transport: Right hand carries the lifted orange Lego block, moving it downward toward the stacked blue and green Lego blocks below."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: place: Right hand lowers the orange Lego block until the block rests on and is supported by the blue Lego block beneath it."}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: mate: Right hand adjusts the position of the orange Lego block slightly to align it properly with the blue Lego block below, completing the stacking alignment."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release: Right hand extends fingers to open, releasing the grasp on the orange Lego block and separating fingers from the block surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves its extended index finger downward toward the top surface of the stacked orange Lego block, with the fingertip not yet touching the block surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: press_retreat: Right hand applies downward vertical pressure on the top surface of the orange Lego block with its extended index finger, lifting the index finger upward away from the block to complete the pressing motion."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand remains empty and moves upward from the position near the stacked Lego blocks to return to the left home position. | Right hand: return_home: Right hand remains empty and moves upward from the position near the stacked Lego blocks to return to the right home position."}, {"label": "home", "start_step": 1071, "end_step": 1115, "id": "RLCKVcdMXRdRZc2_5v9ND"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: idle: Right hand remains empty in the upper right raised position without active movement."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves downward with extended fingers, approaching the small building blocks on the dark table surface without making contact with the blocks."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand makes contact with the small green and orange building blocks on the table, fingers closing and adjusting slightly to establish a grip on the blocks."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release: Right hand opens fingers to release the small light green Lego block and small orange Lego block, fully separating from both blocks by the end of the segment."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves with empty fingers toward the small light green Lego block on the dark work surface."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand adjusts extended finger positions to establish stable contact with the small light green Lego block on the dark surface without moving the block."}, {"label": "subtasks", "start_step": 255, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: push: Right hand uses extended fingers to push the small light green Lego block across the dark surface toward the larger green Lego block."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: hold: Right hand remains stationary with extended fingers contacting the small light green Lego block, which rests against the larger green Lego block with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: push_reach: Right hand index finger pushes the stacked light green Lego block slightly to shift its position on the dark gray work surface, with the finger moving away from the block toward the nearby orange Lego block."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: idle: Right hand stays stationary with the index finger resting on the small orange Lego block, no observable movement."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: other:adjust_lego_position: Right hand moves the index finger back to the stacked light green Lego block, presses and pushes the block to make small positional adjustments on the work surface, lifting the finger off the block and moving away at the end of the segment."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves toward the blue Lego block on the dark gray surface with fingers slightly spread and extended."}, {"label": "subtasks", "start_step": 502, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand curls fingers around the blue Lego block, making small adjustments to finger positions to secure the grip while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: transport: Right hand holds the secured blue Lego block and moves it horizontally toward the adjacent green Lego block."}, {"label": "subtasks", "start_step": 668, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: mate: Right hand adjusts the position of the blue Lego block to align and fit it onto the top surface of the green Lego block."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release_retreat: Right hand opens fingers to release the blue Lego block fitted on the green block, moving slightly away from the assembled blocks with an empty hand."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves toward the orange Lego block resting on the dark gray surface, with extended fingers approaching the target block."}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand curls fingers to close around the orange Lego block, adjusting finger contact points to form a stable grasp while the block remains on the dark gray supporting surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: lift: Right hand lifts the grasped orange Lego block upward until the block is completely separated from the dark gray supporting surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: transport: Right hand carries the lifted orange Lego block, moving it downward toward the stacked blue and green Lego blocks below."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: place: Right hand lowers the orange Lego block until the block rests on and is supported by the blue Lego block beneath it."}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: mate: Right hand adjusts the position of the orange Lego block slightly to align it properly with the blue Lego block below, completing the stacking alignment."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release: Right hand extends fingers to open, releasing the grasp on the orange Lego block and separating fingers from the block surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves its extended index finger downward toward the top surface of the stacked orange Lego block, with the fingertip not yet touching the block surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: press_retreat: Right hand applies downward vertical pressure on the top surface of the orange Lego block with its extended index finger, lifting the index finger upward away from the block to complete the pressing motion."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand remains empty and moves upward from the position near the stacked Lego blocks to return to the left home position. | Right hand: return_home: Right hand remains empty and moves upward from the position near the stacked Lego blocks to return to the right home position."}], "episode_index": 26}
+{"source_uid": "0424c4046b42f98d", "num_frames": 2864, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand moves slightly upward, adjusting finger and wrist posture while remaining empty and out of contact with any objects. | Right hand: other:adjust_hand_posture: Right hand adjusts its initial wrist and finger posture, remaining empty above the right side of the black table."}, {"label": "valid", "start_step": 0, "end_step": 2818, "id": "TFTDqCW9eUmutFMKX17w_"}, {"label": "subtasks", "start_step": 52, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:adjust_hand_posture: Right hand adjusts its initial wrist and finger posture, remaining empty above the right side of the black table."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the table, with fingers held slightly open."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp_release: Right hand fingers close to make contact with the small green lego brick, adjust position to shift the brick slightly on the black table, and open fingers to separate from the brick."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: idle: Right hand stays empty in the position above the shifted small green lego brick with no visible movement."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the table, with fingers held open."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp_release: Right hand fingers close to contact the top surface of the small green lego brick, adjust finger placement on the brick, and open fingers to separate from the brick."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves upward away from the small green lego brick, remaining empty as it retreats."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small blue lego brick on the dark gray surface, fingers approaching the brick without making contact."}, {"label": "subtasks", "start_step": 330, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand fingers make contact with the small blue lego brick, close and adjust positions to form a stable grip on the brick while the brick remains on the supporting surface."}, {"label": "subtasks", "start_step": 382, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reorient_release: Right hand rotates the gripped small blue lego brick with a small wrist rotation to adjust its upright orientation, opens fingers to release the properly positioned brick onto the supporting surface."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves upward away from the released small blue lego brick, retreating from the brick's position with an empty hand."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves toward the small green lego brick on the dark gray work surface with open fingers, approaching the target brick."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes its fingers around the small green lego brick, making small finger adjustments to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the small green lego brick fully off the work surface and moves it horizontally toward the longer green lego brick positioned to the right."}, {"label": "subtasks", "start_step": 698, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the small green lego brick onto the upper surface of the longer green lego brick, making small positional adjustments to align the small brick."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the small green lego brick, breaking contact with the brick as it tips over onto the work surface."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves with open fingers toward the tipped small green lego brick on the work surface, approaching the fallen brick."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:nudge_brick: Right hand uses extended fingers to nudge the tipped small green lego brick, adjusting its orientation to set it upright on the work surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1071, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: idle: Right hand remains empty above the work surface near the upright small green lego brick without any visible movement."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes its fingers around the upright small green lego brick, adjusting finger positions to establish a stable grip on the brick."}, {"label": "subtasks", "start_step": 1118, "end_step": 1199, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the small green lego brick fully off the work surface and moves it horizontally toward the longer green lego brick below."}, {"label": "subtasks", "start_step": 1200, "end_step": 1341, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the small green lego brick onto the upper surface of the longer green lego brick, making small alignment adjustments and applying gentle pressure to seat the brick."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the stacked small green lego brick, fully separating from contact with the brick."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves away from the stacked lego bricks while empty, retreating from the operation position."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach_grasp: Right hand moves toward the small upright blue lego brick resting on the dark gray table surface, adjusting finger positions to close around the brick and form a stable grasp."}, {"label": "subtasks", "start_step": 1485, "end_step": 1709, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: push: Right hand maintains contact with the grasped small blue lego brick, pushing the brick leftward across the dark table surface until it rests adjacent to the stacked green lego bricks."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the held small blue lego brick, lifting the digits slightly away from the sides of the brick."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: press_retreat: Right hand moves its index finger down to apply downward pressure on the top surface of the small blue lego brick, lifting the finger away from the brick as pressure is completed."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves rightward while empty to approach the small orange lego brick on the dark gray flat surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes fingers around the small orange lego brick, adjusting finger positions to establish a stable grip on the brick resting on the surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 2519, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:repeatedly_flip_lego: Right hand grips the small orange lego brick, repeatedly lifting it slightly off the dark gray surface, rotating it around multiple axes to change its facing direction, and placing it back onto the surface, with continuous small adjustments of fingers and wrist throughout the process."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the small orange lego brick resting on the dark work surface, with the brick remaining on the surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2579, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the grasped orange lego brick clear of the dark surface and moves it horizontally leftward to position it directly over the existing stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 2580, "end_step": 2774, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the orange lego brick onto the top of the stacked green and blue bricks, makes small positional adjustments to align the brick and applies downward pressure to seat it properly."}, {"label": "subtasks", "start_step": 2775, "end_step": 2804, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release_retreat: Right hand opens its fingers to release the seated orange lego brick, then moves upward and rightward away from the lego stack with an empty hand."}, {"label": "subtasks", "start_step": 2805, "end_step": 2863, "id": "reasoning-language-00037", "text": "Left hand: retreat: Left hand remains empty, moves upward and backward away from the stacked lego bricks on the dark table surface, with fingers gradually closing during movement. | Right hand: retreat: Right hand remains empty, moves upward and backward away from the stacked lego bricks on the dark table surface, with fingers gradually adjusting posture during movement."}, {"label": "home", "start_step": 2819, "end_step": 2863, "id": "mXC_301U-Su_J1VAZCeBI"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand moves slightly upward, adjusting finger and wrist posture while remaining empty and out of contact with any objects. | Right hand: other:adjust_hand_posture: Right hand adjusts its initial wrist and finger posture, remaining empty above the right side of the black table."}, {"label": "subtasks", "start_step": 52, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:adjust_hand_posture: Right hand adjusts its initial wrist and finger posture, remaining empty above the right side of the black table."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the table, with fingers held slightly open."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp_release: Right hand fingers close to make contact with the small green lego brick, adjust position to shift the brick slightly on the black table, and open fingers to separate from the brick."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: idle: Right hand stays empty in the position above the shifted small green lego brick with no visible movement."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the table, with fingers held open."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp_release: Right hand fingers close to contact the top surface of the small green lego brick, adjust finger placement on the brick, and open fingers to separate from the brick."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves upward away from the small green lego brick, remaining empty as it retreats."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small blue lego brick on the dark gray surface, fingers approaching the brick without making contact."}, {"label": "subtasks", "start_step": 330, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand fingers make contact with the small blue lego brick, close and adjust positions to form a stable grip on the brick while the brick remains on the supporting surface."}, {"label": "subtasks", "start_step": 382, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reorient_release: Right hand rotates the gripped small blue lego brick with a small wrist rotation to adjust its upright orientation, opens fingers to release the properly positioned brick onto the supporting surface."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves upward away from the released small blue lego brick, retreating from the brick's position with an empty hand."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves toward the small green lego brick on the dark gray work surface with open fingers, approaching the target brick."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes its fingers around the small green lego brick, making small finger adjustments to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the small green lego brick fully off the work surface and moves it horizontally toward the longer green lego brick positioned to the right."}, {"label": "subtasks", "start_step": 698, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the small green lego brick onto the upper surface of the longer green lego brick, making small positional adjustments to align the small brick."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the small green lego brick, breaking contact with the brick as it tips over onto the work surface."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves with open fingers toward the tipped small green lego brick on the work surface, approaching the fallen brick."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:nudge_brick: Right hand uses extended fingers to nudge the tipped small green lego brick, adjusting its orientation to set it upright on the work surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1071, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: idle: Right hand remains empty above the work surface near the upright small green lego brick without any visible movement."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes its fingers around the upright small green lego brick, adjusting finger positions to establish a stable grip on the brick."}, {"label": "subtasks", "start_step": 1118, "end_step": 1199, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the small green lego brick fully off the work surface and moves it horizontally toward the longer green lego brick below."}, {"label": "subtasks", "start_step": 1200, "end_step": 1341, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the small green lego brick onto the upper surface of the longer green lego brick, making small alignment adjustments and applying gentle pressure to seat the brick."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the stacked small green lego brick, fully separating from contact with the brick."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves away from the stacked lego bricks while empty, retreating from the operation position."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach_grasp: Right hand moves toward the small upright blue lego brick resting on the dark gray table surface, adjusting finger positions to close around the brick and form a stable grasp."}, {"label": "subtasks", "start_step": 1485, "end_step": 1709, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: push: Right hand maintains contact with the grasped small blue lego brick, pushing the brick leftward across the dark table surface until it rests adjacent to the stacked green lego bricks."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the held small blue lego brick, lifting the digits slightly away from the sides of the brick."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: press_retreat: Right hand moves its index finger down to apply downward pressure on the top surface of the small blue lego brick, lifting the finger away from the brick as pressure is completed."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves rightward while empty to approach the small orange lego brick on the dark gray flat surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes fingers around the small orange lego brick, adjusting finger positions to establish a stable grip on the brick resting on the surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 2519, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:repeatedly_flip_lego: Right hand grips the small orange lego brick, repeatedly lifting it slightly off the dark gray surface, rotating it around multiple axes to change its facing direction, and placing it back onto the surface, with continuous small adjustments of fingers and wrist throughout the process."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the small orange lego brick resting on the dark work surface, with the brick remaining on the surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2579, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the grasped orange lego brick clear of the dark surface and moves it horizontally leftward to position it directly over the existing stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 2580, "end_step": 2774, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the orange lego brick onto the top of the stacked green and blue bricks, makes small positional adjustments to align the brick and applies downward pressure to seat it properly."}, {"label": "subtasks", "start_step": 2775, "end_step": 2804, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release_retreat: Right hand opens its fingers to release the seated orange lego brick, then moves upward and rightward away from the lego stack with an empty hand."}, {"label": "subtasks", "start_step": 2805, "end_step": 2863, "id": "reasoning-language-00037", "text": "Left hand: retreat: Left hand remains empty, moves upward and backward away from the stacked lego bricks on the dark table surface, with fingers gradually closing during movement. | Right hand: retreat: Right hand remains empty, moves upward and backward away from the stacked lego bricks on the dark table surface, with fingers gradually adjusting posture during movement."}], "episode_index": 27}
+{"source_uid": "ed04f75c39cf98cf", "num_frames": 2594, "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": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward to the upper left area of the table while remaining empty. | Right hand: reach: Right hand moves downward toward the blue block on the table while remaining empty."}, {"label": "valid", "start_step": 0, "end_step": 2549, "id": "VCorts9c1PpHclVwdt4c_"}, {"label": "subtasks", "start_step": 90, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the small green block on the black table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small green block."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the small green block on the table without any movement."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport_place: Right hand transports the small green block to the side of the larger green block and places it on the table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the larger green block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the larger green block slightly to a new position on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_retreat: Right hand releases the larger green block and moves away from the operation position."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the blue block on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue block on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the blue block still above the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the grasped blue block towards the green block on the table."}, {"label": "subtasks", "start_step": 645, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand places the blue block onto the top of the green block and adjusts to assemble them together."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the blue block on top of the yellow base block by opening its fingers."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the blue block on the yellow base block on the table."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press_retreat: Right hand presses the blue block onto the yellow base block, then moves away from the block."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed on the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 1041, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the orange block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1334, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand carries the orange block and moves it toward the combined blue-green block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top of the blue-green block and presses to complete assembly."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand opens its fingers to release the orange block."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: retreat: Right hand moves slightly backward away from the assembled blocks."}, {"label": "subtasks", "start_step": 1455, "end_step": 1694, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the orange block on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: push: Right hand pushes the orange block towards the green and blue blocks on the table."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the orange block on the table near the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1830, "end_step": 1927, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, making slight grip adjustments."}, {"label": "subtasks", "start_step": 1928, "end_step": 2009, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table and moves it to the right side of the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2077, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the orange block onto the right area of the table and releases its grip on the block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the orange block placed on the right area of the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2211, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the orange block and adjusts its position slightly on the table."}, {"label": "subtasks", "start_step": 2212, "end_step": 2294, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand holds the orange block and moves it towards the stacked green and blue blocks on the left."}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand holds the orange block and moves it towards the stacked blue and green blocks."}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand lowers the orange block onto the top surface of the green block."}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand adjusts the orange block to align with the green block for assembly."}, {"label": "subtasks", "start_step": 2460, "end_step": 2519, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the orange block downwards to secure it onto the stacked blocks."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00036", "text": "Left hand: retreat: Left hand moves backward to the left side of the table without holding any object. | Right hand: retreat: Right hand moves backward to the right side of the table without holding any object."}, {"label": "home", "start_step": 2550, "end_step": 2593, "id": "oiXmeVPHSczzA6U1ABOVC"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward to the upper left area of the table while remaining empty. | Right hand: reach: Right hand moves downward toward the blue block on the table while remaining empty."}, {"label": "subtasks", "start_step": 90, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the small green block on the black table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small green block."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the small green block on the table without any movement."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport_place: Right hand transports the small green block to the side of the larger green block and places it on the table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the larger green block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the larger green block slightly to a new position on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_retreat: Right hand releases the larger green block and moves away from the operation position."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the blue block on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue block on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the blue block still above the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the grasped blue block towards the green block on the table."}, {"label": "subtasks", "start_step": 645, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand places the blue block onto the top of the green block and adjusts to assemble them together."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the blue block on top of the yellow base block by opening its fingers."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the blue block on the yellow base block on the table."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press_retreat: Right hand presses the blue block onto the yellow base block, then moves away from the block."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed on the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 1041, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the orange block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1334, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand carries the orange block and moves it toward the combined blue-green block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top of the blue-green block and presses to complete assembly."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand opens its fingers to release the orange block."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: retreat: Right hand moves slightly backward away from the assembled blocks."}, {"label": "subtasks", "start_step": 1455, "end_step": 1694, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the orange block on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: push: Right hand pushes the orange block towards the green and blue blocks on the table."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the orange block on the table near the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1830, "end_step": 1927, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, making slight grip adjustments."}, {"label": "subtasks", "start_step": 1928, "end_step": 2009, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table and moves it to the right side of the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2077, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the orange block onto the right area of the table and releases its grip on the block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the orange block placed on the right area of the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2211, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the orange block and adjusts its position slightly on the table."}, {"label": "subtasks", "start_step": 2212, "end_step": 2294, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand holds the orange block and moves it towards the stacked green and blue blocks on the left."}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand holds the orange block and moves it towards the stacked blue and green blocks."}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand lowers the orange block onto the top surface of the green block."}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand adjusts the orange block to align with the green block for assembly."}, {"label": "subtasks", "start_step": 2460, "end_step": 2519, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the orange block downwards to secure it onto the stacked blocks."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00036", "text": "Left hand: retreat: Left hand moves backward to the left side of the table without holding any object. | Right hand: retreat: Right hand moves backward to the right side of the table without holding any object."}], "episode_index": 28}
+{"source_uid": "965ce1ccedbdf074", "num_frames": 2314, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects, fingers held in a slightly extended posture during the movement. | Right hand: other:move_upward: Right hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects."}, {"label": "valid", "start_step": 0, "end_step": 2267, "id": "Xtb7j4-omYCdgvogXClgY"}, {"label": "subtasks", "start_step": 60, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: other:move_upward: Left hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects, fingers held in a slightly extended posture during the movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the black table surface, remaining empty with fingers slightly adjusting as it approaches the target."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves downward toward the small green lego brick on the black table surface, remaining empty with fingers slightly adjusting as it approaches the target."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand moves slightly toward the small green 1x1 Lego brick and closes fingers to form a grasp on the brick resting on the dark surface."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about half a turn horizontally, keeping the brick in contact with the dark surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick, which stays resting on the dark surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: retreat: Right hand lifts slightly and moves a short distance backward away from the released Lego brick, remaining empty."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves downward toward the small green 1x1 Lego brick on the dark surface, approaching to re-grasp."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers to firmly grasp the small green 1x1 Lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about a quarter turn, maintaining contact with the dark surface."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick onto the dark surface."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves a short distance toward the repositioned small green 1x1 Lego brick, staying close to the dark surface."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to grasp the small green 1x1 Lego brick, making small adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about an eighth of a turn, shifting its position slightly on the dark surface."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand presses a finger against the top surface of the small green 1x1 Lego brick, applying downward force perpendicular to the dark surface."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand repositions fingers and closes them to firmly grasp the small green 1x1 Lego brick on the dark surface."}, {"label": "subtasks", "start_step": 562, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about half a turn, flipping the brick to show its studded side while keeping it near the dark surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick, which rests on the dark surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves toward the small green 1x1 Lego brick on the dark surface, positioning to re-grasp the brick."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers to grasp the small green 1x1 Lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about a quarter turn, adjusting its position slightly on the dark surface."}, {"label": "subtasks", "start_step": 802, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand repeatedly taps the top surface of the small green 1x1 Lego brick with a finger, applying light downward force perpendicular to the dark surface."}, {"label": "subtasks", "start_step": 862, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers around the small green 1x1 Lego brick, adjusting grip to prepare for lifting."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift: Right hand lifts the grasped small green 1x1 Lego brick upward, fully separating it from the dark supporting surface."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand grips the small green 1x1 Lego brick, lifts it off the dark work surface, and moves it downward to the position above the larger green Lego brick."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: place: Right hand lowers the small green 1x1 Lego brick until it rests on the surface of the larger green Lego brick."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: hold: Right hand holds the small green 1x1 Lego brick as it rests on the larger green Lego brick, with no visible movement of the hand or brick."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: mate: Right hand adjusts the position of the small green 1x1 Lego brick, aligning it with the connection studs on the larger green Lego brick to fit the two bricks together."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: hold: Right hand remains stationary on the assembled small green 1x1 Lego brick, holding it in place on the larger green Lego brick."}, {"label": "subtasks", "start_step": 1185, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the blue 1x1 lego brick on the dark work surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1275, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand lifts the grasped blue 1x1 lego brick off the dark surface and moves it leftward and downward toward the adjacent green lego brick."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: place: Right hand lowers the blue 1x1 lego brick onto the top surface of the green lego brick until the blue brick is fully supported by the green brick."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens its fingers to release the blue 1x1 lego brick positioned on the green lego brick, separating fingers from the brick surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1477, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand repeatedly presses and taps the small orange block stacked on the blue-green building block until the block detaches and falls onto the dark table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves with empty fingers toward the small orange block that has fallen onto the dark table surface."}, {"label": "subtasks", "start_step": 1508, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient_release: Right hand grips the small orange block on the table, rotates it to adjust its orientation, and releases the block as it tips over onto the table."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: idle: Right hand stays empty and stationary above the orange block without making contact with any objects."}, {"label": "subtasks", "start_step": 1650, "end_step": 1761, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient_release: Right hand moves down to contact the orange block, rotates and shifts the block slightly to adjust its position and orientation, and releases contact with the block."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves with empty fingers back toward the orange block on the table to approach it for further adjustment."}, {"label": "subtasks", "start_step": 1800, "end_step": 1994, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand grips the orange block, repeatedly rotates the block and adjusts its grip with small finger and wrist movements to modify the block's orientation."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release_retreat: Right hand releases its grip on the orange block and moves a short distance backward away from the block with empty fingers before coming to a stop."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand moves back to contact the orange block, making small rotational and positional adjustments to the block with slight finger and wrist movements."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers around the orange 1x1 lego brick resting on the dark gray table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand lifts the grasped orange 1x1 lego brick off the dark gray table surface and moves it leftward to position directly above the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 2160, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: mate_release: Right hand makes slight positional and rotational adjustments to the grasped orange 1x1 lego brick to align it with the top surface of the blue lego brick, opens fingers to release the brick once it is stably supported by the blue lego brick."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: retreat: Right hand moves empty upward and rightward away from the stacked lego bricks."}, {"label": "subtasks", "start_step": 2265, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: return_home: Left hand moves backward empty toward its initial resting position, with fingers gradually adjusting from an extended pointing posture to a relaxed closed posture during movement. | Right hand: return_home: Right hand moves backward empty toward its initial resting position, with fingers gradually adjusting from an extended pointing posture to a relaxed closed posture during movement."}, {"label": "home", "start_step": 2268, "end_step": 2313, "id": "90NcRpTIHqS8IctVuIFKL"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects, fingers held in a slightly extended posture during the movement. | Right hand: other:move_upward: Right hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects."}, {"label": "subtasks", "start_step": 60, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: other:move_upward: Left hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects, fingers held in a slightly extended posture during the movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the black table surface, remaining empty with fingers slightly adjusting as it approaches the target."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves downward toward the small green lego brick on the black table surface, remaining empty with fingers slightly adjusting as it approaches the target."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand moves slightly toward the small green 1x1 Lego brick and closes fingers to form a grasp on the brick resting on the dark surface."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about half a turn horizontally, keeping the brick in contact with the dark surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick, which stays resting on the dark surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: retreat: Right hand lifts slightly and moves a short distance backward away from the released Lego brick, remaining empty."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves downward toward the small green 1x1 Lego brick on the dark surface, approaching to re-grasp."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers to firmly grasp the small green 1x1 Lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about a quarter turn, maintaining contact with the dark surface."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick onto the dark surface."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves a short distance toward the repositioned small green 1x1 Lego brick, staying close to the dark surface."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to grasp the small green 1x1 Lego brick, making small adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about an eighth of a turn, shifting its position slightly on the dark surface."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand presses a finger against the top surface of the small green 1x1 Lego brick, applying downward force perpendicular to the dark surface."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand repositions fingers and closes them to firmly grasp the small green 1x1 Lego brick on the dark surface."}, {"label": "subtasks", "start_step": 562, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about half a turn, flipping the brick to show its studded side while keeping it near the dark surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick, which rests on the dark surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves toward the small green 1x1 Lego brick on the dark surface, positioning to re-grasp the brick."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers to grasp the small green 1x1 Lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about a quarter turn, adjusting its position slightly on the dark surface."}, {"label": "subtasks", "start_step": 802, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand repeatedly taps the top surface of the small green 1x1 Lego brick with a finger, applying light downward force perpendicular to the dark surface."}, {"label": "subtasks", "start_step": 862, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers around the small green 1x1 Lego brick, adjusting grip to prepare for lifting."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift: Right hand lifts the grasped small green 1x1 Lego brick upward, fully separating it from the dark supporting surface."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand grips the small green 1x1 Lego brick, lifts it off the dark work surface, and moves it downward to the position above the larger green Lego brick."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: place: Right hand lowers the small green 1x1 Lego brick until it rests on the surface of the larger green Lego brick."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: hold: Right hand holds the small green 1x1 Lego brick as it rests on the larger green Lego brick, with no visible movement of the hand or brick."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: mate: Right hand adjusts the position of the small green 1x1 Lego brick, aligning it with the connection studs on the larger green Lego brick to fit the two bricks together."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: hold: Right hand remains stationary on the assembled small green 1x1 Lego brick, holding it in place on the larger green Lego brick."}, {"label": "subtasks", "start_step": 1185, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the blue 1x1 lego brick on the dark work surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1275, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand lifts the grasped blue 1x1 lego brick off the dark surface and moves it leftward and downward toward the adjacent green lego brick."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: place: Right hand lowers the blue 1x1 lego brick onto the top surface of the green lego brick until the blue brick is fully supported by the green brick."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens its fingers to release the blue 1x1 lego brick positioned on the green lego brick, separating fingers from the brick surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1477, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand repeatedly presses and taps the small orange block stacked on the blue-green building block until the block detaches and falls onto the dark table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves with empty fingers toward the small orange block that has fallen onto the dark table surface."}, {"label": "subtasks", "start_step": 1508, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient_release: Right hand grips the small orange block on the table, rotates it to adjust its orientation, and releases the block as it tips over onto the table."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: idle: Right hand stays empty and stationary above the orange block without making contact with any objects."}, {"label": "subtasks", "start_step": 1650, "end_step": 1761, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient_release: Right hand moves down to contact the orange block, rotates and shifts the block slightly to adjust its position and orientation, and releases contact with the block."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves with empty fingers back toward the orange block on the table to approach it for further adjustment."}, {"label": "subtasks", "start_step": 1800, "end_step": 1994, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand grips the orange block, repeatedly rotates the block and adjusts its grip with small finger and wrist movements to modify the block's orientation."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release_retreat: Right hand releases its grip on the orange block and moves a short distance backward away from the block with empty fingers before coming to a stop."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand moves back to contact the orange block, making small rotational and positional adjustments to the block with slight finger and wrist movements."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers around the orange 1x1 lego brick resting on the dark gray table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand lifts the grasped orange 1x1 lego brick off the dark gray table surface and moves it leftward to position directly above the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 2160, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: mate_release: Right hand makes slight positional and rotational adjustments to the grasped orange 1x1 lego brick to align it with the top surface of the blue lego brick, opens fingers to release the brick once it is stably supported by the blue lego brick."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: retreat: Right hand moves empty upward and rightward away from the stacked lego bricks."}, {"label": "subtasks", "start_step": 2265, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: return_home: Left hand moves backward empty toward its initial resting position, with fingers gradually adjusting from an extended pointing posture to a relaxed closed posture during movement. | Right hand: return_home: Right hand moves backward empty toward its initial resting position, with fingers gradually adjusting from an extended pointing posture to a relaxed closed posture during movement."}], "episode_index": 29}
+{"source_uid": "492420e95d172c30", "num_frames": 2068, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and slightly rightward to the upper left area above the black table with fingers open. | Right hand: reach: Right hand moves upward and slightly leftward above the black table with fingers open."}, {"label": "valid", "start_step": 0, "end_step": 2021, "id": "v2RxT2GpfP6TTxjSuXNTq"}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves upward and slightly leftward above the black table with fingers open."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves left to approach the small green cube on the table."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small green cube on the table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 218, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: hold: Right hand holds the small green cube on the table without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand grasps the green block on the table with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reorient: Right hand reorients the green block on the table with slight rotation, position remains mostly unchanged."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and transports it leftward."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: place_release: Right hand places the small green block on the table and releases it."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves toward the small green block on the table with fingers open."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand grasps the small green block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 622, "end_step": 2009, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: hold: Right hand holds the small green block on the table without moving."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00014", "text": "Left hand: return_home: Left hand moves downward and back to the initial left position beside the table. | Right hand: retreat: Right hand moves upward and rightward away from the stacked building blocks on the table."}, {"label": "home", "start_step": 2022, "end_step": 2067, "id": "A_KghZ0uU4d3N75TlsdT9"}, {"label": "subtasks", "start_step": 2048, "end_step": 2054, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the initial left position beside the table without moving. | Right hand: retreat: Right hand moves upward and rightward away from the stacked building blocks on the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2067, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the initial left position beside the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and slightly rightward to the upper left area above the black table with fingers open. | Right hand: reach: Right hand moves upward and slightly leftward above the black table with fingers open."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves upward and slightly leftward above the black table with fingers open."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves left to approach the small green cube on the table."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small green cube on the table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 218, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: hold: Right hand holds the small green cube on the table without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand grasps the green block on the table with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reorient: Right hand reorients the green block on the table with slight rotation, position remains mostly unchanged."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and transports it leftward."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: place_release: Right hand places the small green block on the table and releases it."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves toward the small green block on the table with fingers open."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand grasps the small green block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 622, "end_step": 2009, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: hold: Right hand holds the small green block on the table without moving."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00014", "text": "Left hand: return_home: Left hand moves downward and back to the initial left position beside the table. | Right hand: retreat: Right hand moves upward and rightward away from the stacked building blocks on the table."}, {"label": "subtasks", "start_step": 2048, "end_step": 2054, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the initial left position beside the table without moving. | Right hand: retreat: Right hand moves upward and rightward away from the stacked building blocks on the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2067, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the initial left position beside the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}], "episode_index": 30}
+{"source_uid": "f33968c5aac75771", "num_frames": 2223, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward to the left upper area of the table with fingers open, no object is contacted. | Right hand: reach_grasp: Right hand moves forward and downward toward the small green building block on the table, then makes contact with the block to initiate grasping."}, {"label": "valid", "start_step": 0, "end_step": 2179, "id": "4zbDY8zwBtBSiH_GxfUAJ"}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach_grasp: Right hand moves forward and downward toward the small green building block on the table, then makes contact with the block to initiate grasping."}, {"label": "subtasks", "start_step": 120, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts its fingers to grasp the small green building block on the black surface."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: transport: Right hand transports the grasped small green building block downward toward the larger flat green building block on the table."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: place: Right hand places the small green building block onto the larger flat green building block on the table."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand adjusts the small green building block to align with the larger flat green building block underneath."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the small green building block by opening its fingers."}, {"label": "subtasks", "start_step": 405, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts fingers to grasp the green building block on the table."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the blue building block on the table with fingers open."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers to grasp the blue building block on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes its fingers to grasp the blue building block placed on the grey surface."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the blue building block off the grey surface and transports it downward toward the green building block."}, {"label": "subtasks", "start_step": 638, "end_step": 801, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand aligns the blue building block with the green building block and presses to assemble them together."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand opens its fingers to release the blue building block and moves slightly away."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the orange building block on the table with fingers open."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers around the orange building block on the table and adjusts to form stable grip."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the orange building block from the table and transports it toward the stacked green and blue building blocks."}, {"label": "subtasks", "start_step": 975, "end_step": 1057, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers to grasp the orange building block on the gray table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift: Right hand lifts the grasped orange building block upwards from the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the orange building block as it slips from the grasp, the block falls back to the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the orange building block on the dark table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1297, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers around the orange building block, making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand opens fingers to release the orange building block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1447, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts its fingers to grasp the orange building block on the table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the grasped orange building block and moves it toward the blue building block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1581, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand aligns the orange building block with the blue building block to attempt assembly."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the orange building block and moves slightly away from the blocks."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00028", "text": "Left hand: other:slight_lift_move: Left hand lifts slightly and moves at the left side of the operation area without contacting any operating objects. | Right hand: reach: Right hand moves towards the orange building block on the black tabletop."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves towards the orange building block on the black tabletop."}, {"label": "subtasks", "start_step": 1695, "end_step": 1859, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers and adjusts contact position to grasp the orange building block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: hold: Right hand holds the orange building block stably without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts fingers to grasp the orange building block on the table."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the grasped orange building block downward to the position above the blue building block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the orange building block onto the top of the blue building block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the orange building block to fit it firmly with the blue building block."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00036", "text": "Left hand: return_home: Left hand moves empty back to its initial home position on the left side of the workspace. | Right hand: return_home: Right hand moves empty back to its initial home position on the right side of the workspace."}, {"label": "home", "start_step": 2180, "end_step": 2222, "id": "M1itCT-icucElsK4Ixjxs"}, {"label": "subtasks", "start_step": 2205, "end_step": 2211, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at its left home position. | Right hand: return_home: Right hand moves empty back to its initial home position on the right side of the workspace."}, {"label": "subtasks", "start_step": 2212, "end_step": 2222, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at its left home position. | Right hand: idle: Right hand remains empty and stationary at its right home position."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward to the left upper area of the table with fingers open, no object is contacted. | Right hand: reach_grasp: Right hand moves forward and downward toward the small green building block on the table, then makes contact with the block to initiate grasping."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach_grasp: Right hand moves forward and downward toward the small green building block on the table, then makes contact with the block to initiate grasping."}, {"label": "subtasks", "start_step": 120, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts its fingers to grasp the small green building block on the black surface."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: transport: Right hand transports the grasped small green building block downward toward the larger flat green building block on the table."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: place: Right hand places the small green building block onto the larger flat green building block on the table."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand adjusts the small green building block to align with the larger flat green building block underneath."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the small green building block by opening its fingers."}, {"label": "subtasks", "start_step": 405, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts fingers to grasp the green building block on the table."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the blue building block on the table with fingers open."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers to grasp the blue building block on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes its fingers to grasp the blue building block placed on the grey surface."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the blue building block off the grey surface and transports it downward toward the green building block."}, {"label": "subtasks", "start_step": 638, "end_step": 801, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand aligns the blue building block with the green building block and presses to assemble them together."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand opens its fingers to release the blue building block and moves slightly away."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the orange building block on the table with fingers open."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers around the orange building block on the table and adjusts to form stable grip."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the orange building block from the table and transports it toward the stacked green and blue building blocks."}, {"label": "subtasks", "start_step": 975, "end_step": 1057, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers to grasp the orange building block on the gray table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift: Right hand lifts the grasped orange building block upwards from the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the orange building block as it slips from the grasp, the block falls back to the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the orange building block on the dark table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1297, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers around the orange building block, making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand opens fingers to release the orange building block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1447, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts its fingers to grasp the orange building block on the table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the grasped orange building block and moves it toward the blue building block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1581, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand aligns the orange building block with the blue building block to attempt assembly."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the orange building block and moves slightly away from the blocks."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00028", "text": "Left hand: other:slight_lift_move: Left hand lifts slightly and moves at the left side of the operation area without contacting any operating objects. | Right hand: reach: Right hand moves towards the orange building block on the black tabletop."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves towards the orange building block on the black tabletop."}, {"label": "subtasks", "start_step": 1695, "end_step": 1859, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers and adjusts contact position to grasp the orange building block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: hold: Right hand holds the orange building block stably without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts fingers to grasp the orange building block on the table."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the grasped orange building block downward to the position above the blue building block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the orange building block onto the top of the blue building block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the orange building block to fit it firmly with the blue building block."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00036", "text": "Left hand: return_home: Left hand moves empty back to its initial home position on the left side of the workspace. | Right hand: return_home: Right hand moves empty back to its initial home position on the right side of the workspace."}, {"label": "subtasks", "start_step": 2205, "end_step": 2211, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at its left home position. | Right hand: return_home: Right hand moves empty back to its initial home position on the right side of the workspace."}, {"label": "subtasks", "start_step": 2212, "end_step": 2222, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at its left home position. | Right hand: idle: Right hand remains empty and stationary at its right home position."}], "episode_index": 31}
+{"source_uid": "0e6a66fc9a421f49", "num_frames": 1398, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:reposition_and_open_fingers: Left hand repositions from its initial neutral upright pose, rotates the wrist slightly upward, and opens its fingers from a closed to a spread posture while moving to a stable raised position on the left. | Right hand: reach: Right hand repositions from its initial neutral upright pose, moves downward toward the scattered building blocks on the black table surface, rotates the wrist slightly inward, and opens its fingers as it approaches the blocks."}, {"label": "valid", "start_step": 0, "end_step": 1355, "id": "Qr2DKFo9qIrEvrDMc42si"}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand repositions from its initial neutral upright pose, moves downward toward the scattered building blocks on the black table surface, rotates the wrist slightly inward, and opens its fingers as it approaches the blocks."}, {"label": "subtasks", "start_step": 90, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its fingers around the small green 2x2 building block, makes small positional adjustments to align the fingers before closing them to form a stable grip on the block, which remains on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped small green 2x2 block upward until the block is completely raised off the table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted small green 2x2 block through the air, moving it downward and to the right toward the large green 2x4 building block on the table."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the small green 2x2 block onto the upper surface of the large green 2x4 block until the small block is stably supported by the large block."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: hold: Right hand maintains contact with the small green 2x2 block placed on the large green block, with no observable movement of the hand, fingers, or blocks."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts finger contact points on the small green brick, slightly moving and rotating the brick to adjust its position on the long green brick."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand releases the small green brick, fingers moving away from the brick surface to break contact."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the blue 2x2 lego brick on the dark flat surface with fingers held in an open posture."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand curls fingers around the blue 2x2 lego brick, making slight finger adjustments to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the stably grasped blue 2x2 lego brick upward until the brick is completely separated from the dark supporting surface."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the grasped blue 2x2 lego brick, moving it horizontally toward the nearby green lego bricks on the surface."}, {"label": "subtasks", "start_step": 525, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand contacts the blue brick near the green brick on the table, adjusting fingers and wrist position to form a stable grasp while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped blue brick completely off the table surface, moving it horizontally rightward across the table toward the area next to the orange brick."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the grasped blue brick down to the table surface, setting it stably on the right section of the table adjacent to the orange brick."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the blue brick on the dark gray surface with fingers held open."}, {"label": "subtasks", "start_step": 788, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts finger placement around the blue brick, slightly closing and repositioning fingers to form a grip on the brick."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its fingers around the blue brick resting on the dark work surface to form a stable grip."}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand moves the stably grasped blue brick leftward across the dark work surface toward the green brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand sets the blue brick into a stable supported position on the dark work surface adjacent to the green brick."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the blue brick, breaking contact with the brick surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the 2x2 orange lego brick placed on the dark table surface, with fingers held in a slightly open posture as it approaches the target brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand curls its fingers around the 2x2 orange lego brick, making small adjustments to finger contact positions to establish a grip on the brick that remains resting on the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand firmly holds the orange brick and moves it down-left toward the stacked green and blue bricks on the dark table surface, keeping the brick in the air."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the orange brick to place it onto the top of the stacked green and blue bricks, until the brick is fully supported by the stack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand gradually opens all fingers to release the orange brick, slowly separating the fingers from the brick surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: press: Right hand moves the index finger vertically downward to press the top surface of the placed orange brick, applying downward pressure."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: retreat: Right hand moves empty upward and rightward to retreat from the position of the stacked bricks."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward and outward empty-handed away from the colorful block stack at the center of the table, with fingers gradually adjusting to point upward, until it stops at its initial left resting position. | Right hand: return_home: Right hand moves upward and outward empty-handed away from the colorful block stack at the center of the table, with fingers gradually adjusting to point upward, until it stops at its initial right resting position."}, {"label": "home", "start_step": 1356, "end_step": 1397, "id": "xxept7xGef__RhHS1mumx"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:reposition_and_open_fingers: Left hand repositions from its initial neutral upright pose, rotates the wrist slightly upward, and opens its fingers from a closed to a spread posture while moving to a stable raised position on the left. | Right hand: reach: Right hand repositions from its initial neutral upright pose, moves downward toward the scattered building blocks on the black table surface, rotates the wrist slightly inward, and opens its fingers as it approaches the blocks."}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand repositions from its initial neutral upright pose, moves downward toward the scattered building blocks on the black table surface, rotates the wrist slightly inward, and opens its fingers as it approaches the blocks."}, {"label": "subtasks", "start_step": 90, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its fingers around the small green 2x2 building block, makes small positional adjustments to align the fingers before closing them to form a stable grip on the block, which remains on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped small green 2x2 block upward until the block is completely raised off the table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted small green 2x2 block through the air, moving it downward and to the right toward the large green 2x4 building block on the table."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the small green 2x2 block onto the upper surface of the large green 2x4 block until the small block is stably supported by the large block."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: hold: Right hand maintains contact with the small green 2x2 block placed on the large green block, with no observable movement of the hand, fingers, or blocks."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts finger contact points on the small green brick, slightly moving and rotating the brick to adjust its position on the long green brick."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand releases the small green brick, fingers moving away from the brick surface to break contact."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the blue 2x2 lego brick on the dark flat surface with fingers held in an open posture."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand curls fingers around the blue 2x2 lego brick, making slight finger adjustments to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the stably grasped blue 2x2 lego brick upward until the brick is completely separated from the dark supporting surface."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the grasped blue 2x2 lego brick, moving it horizontally toward the nearby green lego bricks on the surface."}, {"label": "subtasks", "start_step": 525, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand contacts the blue brick near the green brick on the table, adjusting fingers and wrist position to form a stable grasp while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped blue brick completely off the table surface, moving it horizontally rightward across the table toward the area next to the orange brick."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the grasped blue brick down to the table surface, setting it stably on the right section of the table adjacent to the orange brick."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the blue brick on the dark gray surface with fingers held open."}, {"label": "subtasks", "start_step": 788, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts finger placement around the blue brick, slightly closing and repositioning fingers to form a grip on the brick."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its fingers around the blue brick resting on the dark work surface to form a stable grip."}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand moves the stably grasped blue brick leftward across the dark work surface toward the green brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand sets the blue brick into a stable supported position on the dark work surface adjacent to the green brick."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the blue brick, breaking contact with the brick surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the 2x2 orange lego brick placed on the dark table surface, with fingers held in a slightly open posture as it approaches the target brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand curls its fingers around the 2x2 orange lego brick, making small adjustments to finger contact positions to establish a grip on the brick that remains resting on the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand firmly holds the orange brick and moves it down-left toward the stacked green and blue bricks on the dark table surface, keeping the brick in the air."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the orange brick to place it onto the top of the stacked green and blue bricks, until the brick is fully supported by the stack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand gradually opens all fingers to release the orange brick, slowly separating the fingers from the brick surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: press: Right hand moves the index finger vertically downward to press the top surface of the placed orange brick, applying downward pressure."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: retreat: Right hand moves empty upward and rightward to retreat from the position of the stacked bricks."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward and outward empty-handed away from the colorful block stack at the center of the table, with fingers gradually adjusting to point upward, until it stops at its initial left resting position. | Right hand: return_home: Right hand moves upward and outward empty-handed away from the colorful block stack at the center of the table, with fingers gradually adjusting to point upward, until it stops at its initial right resting position."}], "episode_index": 32}
+{"source_uid": "eef4eb1d4beb081b", "num_frames": 1811, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: idle: Right hand remains empty at the right upper initial position without active movement."}, {"label": "valid", "start_step": 0, "end_step": 1771, "id": "86Cs0HgUBlUmCmyrBEPSG"}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the small light green lego block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand contacts the small light green lego block on the black table, fingers close and adjust position to establish a grasp on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves toward the small flat lego brick on the dark gray work surface, with fingers slightly extended, approaching the brick without stable contact."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the edge of the flat lego brick, adjusting finger contact to establish initial grip on the brick resting on the surface."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: hold: Right hand holds the edge of the flat lego brick on the dark gray surface without any observable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and wrist angle slightly on the lego brick, repositioning contact points to secure a stable grip for moving the brick."}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reorient: Right hand grips the lego brick, lifts it slightly off the surface, rotates it about 90 degrees to adjust it to an upright orientation while keeping it in roughly the same horizontal position."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: place: Right hand lowers the rotated lego brick down to the dark gray surface, setting the brick to rest stably in an upright position on the surface."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release_retreat: Right hand opens fingers to release the upright lego brick supported on the surface, moving slightly upward away from the brick with an empty hand."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves left toward the upright small light green lego brick with open fingers, not yet making contact with the brick."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the upright small light green lego brick, making slight grip adjustments while the brick stays on the dark gray supporting surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the small light green lego brick fully off the dark gray surface and moves it rightward to the position directly above the large light green lego brick, rotating the brick to a flat orientation during movement."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: place: Right hand lowers the small light green lego brick onto the top surface of the large light green lego brick until the small brick is stably supported by the larger brick."}, {"label": "subtasks", "start_step": 540, "end_step": 937, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger contact points and grip on the small light green brick on the larger light green plate, slightly shifting the brick closer to the blue block via small wrist movements."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: hold: Right hand holds the small light green brick steady in its adjusted position on the larger plate without movement."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release: Right hand opens fingers and lifts upward, releasing contact with the small light green brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves left toward the dark blue lego brick placed on the dark gray work surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions around the dark blue lego brick, closing fingers to establish and stabilize contact with the brick which remains on the work surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand makes subtle finger and wrist adjustments to establish a stable grasp on the dark blue lego brick placed on the dark table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: lift: Right hand lifts the stably grasped dark blue lego brick vertically upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1237, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: transport: Right hand transports the lifted dark blue lego brick rightward through the air to the position directly above the light green lego brick."}, {"label": "subtasks", "start_step": 1238, "end_step": 1424, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: mate: Right hand aligns the dark blue lego brick with the connection points on the light green lego brick, lowers and presses the dark blue brick to attach it to the light green brick."}, {"label": "subtasks", "start_step": 1425, "end_step": 1559, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach_press: Right hand moves toward the top surface of the dark blue brick stacked on the light green brick, contacts the surface and exerts vertical downward force to press the brick."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: retreat: Right hand moves upward and away from the stacked bricks, retreating from the pressing position with empty fingers."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves leftward toward the small orange lego brick on the dark table surface, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 1598, "end_step": 1701, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the small orange lego brick, adjusting finger positions slightly to attempt closing around the brick."}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the small orange lego brick, which falls downward away from the hand."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: idle: Right hand remains empty above the original position of the orange lego brick without any visible movement."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand remains empty, moves upward and rotates slightly to return to the forward-facing initial home position, with fingers gradually adjusting to a relaxed aligned posture. | Right hand: return_home: Right hand remains empty, moves upward and rotates slightly to return to the forward-facing initial home position, with fingers gradually extending and adjusting to a relaxed aligned posture."}, {"label": "home", "start_step": 1772, "end_step": 1810, "id": "O8KlLxdZwPgg4izwzeaBi"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: idle: Right hand remains empty at the right upper initial position without active movement."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the small light green lego block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand contacts the small light green lego block on the black table, fingers close and adjust position to establish a grasp on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves toward the small flat lego brick on the dark gray work surface, with fingers slightly extended, approaching the brick without stable contact."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the edge of the flat lego brick, adjusting finger contact to establish initial grip on the brick resting on the surface."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: hold: Right hand holds the edge of the flat lego brick on the dark gray surface without any observable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and wrist angle slightly on the lego brick, repositioning contact points to secure a stable grip for moving the brick."}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reorient: Right hand grips the lego brick, lifts it slightly off the surface, rotates it about 90 degrees to adjust it to an upright orientation while keeping it in roughly the same horizontal position."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: place: Right hand lowers the rotated lego brick down to the dark gray surface, setting the brick to rest stably in an upright position on the surface."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release_retreat: Right hand opens fingers to release the upright lego brick supported on the surface, moving slightly upward away from the brick with an empty hand."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves left toward the upright small light green lego brick with open fingers, not yet making contact with the brick."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the upright small light green lego brick, making slight grip adjustments while the brick stays on the dark gray supporting surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the small light green lego brick fully off the dark gray surface and moves it rightward to the position directly above the large light green lego brick, rotating the brick to a flat orientation during movement."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: place: Right hand lowers the small light green lego brick onto the top surface of the large light green lego brick until the small brick is stably supported by the larger brick."}, {"label": "subtasks", "start_step": 540, "end_step": 937, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger contact points and grip on the small light green brick on the larger light green plate, slightly shifting the brick closer to the blue block via small wrist movements."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: hold: Right hand holds the small light green brick steady in its adjusted position on the larger plate without movement."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release: Right hand opens fingers and lifts upward, releasing contact with the small light green brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves left toward the dark blue lego brick placed on the dark gray work surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions around the dark blue lego brick, closing fingers to establish and stabilize contact with the brick which remains on the work surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand makes subtle finger and wrist adjustments to establish a stable grasp on the dark blue lego brick placed on the dark table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: lift: Right hand lifts the stably grasped dark blue lego brick vertically upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1237, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: transport: Right hand transports the lifted dark blue lego brick rightward through the air to the position directly above the light green lego brick."}, {"label": "subtasks", "start_step": 1238, "end_step": 1424, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: mate: Right hand aligns the dark blue lego brick with the connection points on the light green lego brick, lowers and presses the dark blue brick to attach it to the light green brick."}, {"label": "subtasks", "start_step": 1425, "end_step": 1559, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach_press: Right hand moves toward the top surface of the dark blue brick stacked on the light green brick, contacts the surface and exerts vertical downward force to press the brick."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: retreat: Right hand moves upward and away from the stacked bricks, retreating from the pressing position with empty fingers."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves leftward toward the small orange lego brick on the dark table surface, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 1598, "end_step": 1701, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the small orange lego brick, adjusting finger positions slightly to attempt closing around the brick."}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the small orange lego brick, which falls downward away from the hand."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: idle: Right hand remains empty above the original position of the orange lego brick without any visible movement."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand remains empty, moves upward and rotates slightly to return to the forward-facing initial home position, with fingers gradually adjusting to a relaxed aligned posture. | Right hand: return_home: Right hand remains empty, moves upward and rotates slightly to return to the forward-facing initial home position, with fingers gradually extending and adjusting to a relaxed aligned posture."}], "episode_index": 33}
+{"source_uid": "5e8151eb7fa208d1", "num_frames": 2376, "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": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and left toward the small green block on the left side of the table."}, {"label": "valid", "start_step": 0, "end_step": 2327, "id": "z0ujOCaOeXjxiUcpoQ0z5"}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the small green block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers and makes slight grip adjustments to grasp the small green block on the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped small green block off the black supporting surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the small green block rightward above the larger green block."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the small green block onto the larger green block."}, {"label": "subtasks", "start_step": 285, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the small green block downward to stack it firmly on the larger green block placed on the mat."}, {"label": "subtasks", "start_step": 405, "end_step": 794, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the small green block stacked on the larger green block without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 929, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand closes fingers to grasp the green block on the table then releases the green block."}, {"label": "subtasks", "start_step": 930, "end_step": 1034, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the blue block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1184, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the blue block on the table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the blue block up from the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the blue block rightward to the position above the green block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00014", "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 onto the top of the stacked green block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1311, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the blue block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the blue block and moves away slightly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the orange block on the table to form a grip."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the orange block on the table without moving."}, {"label": "subtasks", "start_step": 1448, "end_step": 1574, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to re-grasp the orange block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped orange block leftward to the position above the green block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00021", "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, with fingers separating from the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the fallen orange block on the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1761, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the fallen orange block, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the orange block to adjust its orientation to an upright position."}, {"label": "subtasks", "start_step": 1830, "end_step": 2001, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the upright orange block toward the stacked green and blue blocks on the table."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00026", "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, fingers open to separate from the block surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the orange block without moving."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the orange block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table and transports it leftward to the position above the blue block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the orange block by opening its fingers."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses down on the orange block to secure it onto the blue block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2375, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "home", "start_step": 2328, "end_step": 2375, "id": "12WlISC5ha6pcGE53g7Hj"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and left toward the small green block on the left side of the table."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the small green block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers and makes slight grip adjustments to grasp the small green block on the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped small green block off the black supporting surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the small green block rightward above the larger green block."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the small green block onto the larger green block."}, {"label": "subtasks", "start_step": 285, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the small green block downward to stack it firmly on the larger green block placed on the mat."}, {"label": "subtasks", "start_step": 405, "end_step": 794, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the small green block stacked on the larger green block without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 929, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand closes fingers to grasp the green block on the table then releases the green block."}, {"label": "subtasks", "start_step": 930, "end_step": 1034, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the blue block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1184, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the blue block on the table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the blue block up from the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the blue block rightward to the position above the green block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00014", "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 onto the top of the stacked green block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1311, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the blue block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the blue block and moves away slightly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the orange block on the table to form a grip."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the orange block on the table without moving."}, {"label": "subtasks", "start_step": 1448, "end_step": 1574, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to re-grasp the orange block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped orange block leftward to the position above the green block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00021", "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, with fingers separating from the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the fallen orange block on the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1761, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the fallen orange block, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the orange block to adjust its orientation to an upright position."}, {"label": "subtasks", "start_step": 1830, "end_step": 2001, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the upright orange block toward the stacked green and blue blocks on the table."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00026", "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, fingers open to separate from the block surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the orange block without moving."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the orange block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table and transports it leftward to the position above the blue block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the orange block by opening its fingers."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses down on the orange block to secure it onto the blue block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2375, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}], "episode_index": 34}
+{"source_uid": "9714fd6d4c144820", "num_frames": 1412, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:raise_and_extend_fingers: Left hand rises slightly at the upper left of the frame, with fingers extending to an open position. | Right hand: other:raise_and_extend_fingers: Right hand rises slightly at the upper right of the frame, with fingers extending to an open position."}, {"label": "valid", "start_step": 0, "end_step": 1364, "id": "DsYgolgJ2BNzJpT9UU4pe"}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: other:raise_and_extend_fingers: Right hand rises slightly at the upper right of the frame, with fingers extending to an open position."}, {"label": "subtasks", "start_step": 68, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves downward toward the blue building block on the black table surface, remaining empty without contacting the block."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves downward toward the small light green 2x2 lego block on the dark work surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 90, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand gradually curls its fingers around the small light green 2x2 lego block, making subtle positional adjustments to establish contact with the block while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: transport: Right hand holds the small light green lego block and moves it downward toward the larger light green lego block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 270, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand adjusts the position and orientation of the small light green lego block to align its connection points with those on the larger light green lego block below."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: press: Right hand applies downward pressure on the top surface of the small light green lego block to secure it to the larger light green lego block."}, {"label": "subtasks", "start_step": 405, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves from the green lego block position toward the blue 2x2 lego block with empty hand, approaching the target."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand contacts the blue 2x2 lego block, closes fingers and makes slight adjustments to establish a firm grip on the block."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: lift_transport: Right hand holds the blue lego block, lifts it from the dark flat surface and moves it leftward toward the green lego block."}, {"label": "subtasks", "start_step": 615, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand adjusts the position of the held blue lego block to align it flush against the adjacent side of the green lego block."}, {"label": "subtasks", "start_step": 720, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves rightward toward the orange 2x2 lego block on the dark flat surface, with fingers held in a slightly open position."}, {"label": "subtasks", "start_step": 870, "end_step": 989, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand curls its fingers to close around the orange 2x2 lego block, making minor adjustments to form contact with the block which remains on the dark surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reorient: Right hand holds the orange lego block and rotates it about half a turn to flip its orientation, with minimal positional change over the dark table surface."}, {"label": "subtasks", "start_step": 1028, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: hold: Right hand holds the flipped orange lego block steadily on the dark table surface without visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1177, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: lift_transport: Right hand lifts the orange lego block off the dark supporting surface and transports it leftward toward the stacked green and blue lego assembly."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand makes minor positional adjustments to align the held orange lego block and mates it onto the top of the stacked lego assembly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: release: Right hand opens its fingers to release the mated orange lego block on top of the stacked lego assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1349, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00023", "text": "Left hand: return_home: Left hand moves downward from the upper left resting position to the left home position, with fingers spreading from a closed extended state to a natural relaxed state, and stops steadily at the home position. | Right hand: retreat: Right hand moves upward away from the lego stack on the dark table surface, with fingers gradually spreading open during the upward movement."}, {"label": "home", "start_step": 1365, "end_step": 1411, "id": "rMglJ0lFMR6L3II2LNZ0G"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00024", "text": "Left hand: return_home: Left hand moves downward from the upper left resting position to the left home position, with fingers spreading from a closed extended state to a natural relaxed state, and stops steadily at the home position. | Right hand: return_home: Right hand moves downward from the upper right area to the right home position, adjusting wrist and finger posture, and stops steadily at the home position."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:raise_and_extend_fingers: Left hand rises slightly at the upper left of the frame, with fingers extending to an open position. | Right hand: other:raise_and_extend_fingers: Right hand rises slightly at the upper right of the frame, with fingers extending to an open position."}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: other:raise_and_extend_fingers: Right hand rises slightly at the upper right of the frame, with fingers extending to an open position."}, {"label": "subtasks", "start_step": 68, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves downward toward the blue building block on the black table surface, remaining empty without contacting the block."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves downward toward the small light green 2x2 lego block on the dark work surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 90, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand gradually curls its fingers around the small light green 2x2 lego block, making subtle positional adjustments to establish contact with the block while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: transport: Right hand holds the small light green lego block and moves it downward toward the larger light green lego block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 270, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand adjusts the position and orientation of the small light green lego block to align its connection points with those on the larger light green lego block below."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: press: Right hand applies downward pressure on the top surface of the small light green lego block to secure it to the larger light green lego block."}, {"label": "subtasks", "start_step": 405, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves from the green lego block position toward the blue 2x2 lego block with empty hand, approaching the target."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand contacts the blue 2x2 lego block, closes fingers and makes slight adjustments to establish a firm grip on the block."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: lift_transport: Right hand holds the blue lego block, lifts it from the dark flat surface and moves it leftward toward the green lego block."}, {"label": "subtasks", "start_step": 615, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand adjusts the position of the held blue lego block to align it flush against the adjacent side of the green lego block."}, {"label": "subtasks", "start_step": 720, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves rightward toward the orange 2x2 lego block on the dark flat surface, with fingers held in a slightly open position."}, {"label": "subtasks", "start_step": 870, "end_step": 989, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand curls its fingers to close around the orange 2x2 lego block, making minor adjustments to form contact with the block which remains on the dark surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reorient: Right hand holds the orange lego block and rotates it about half a turn to flip its orientation, with minimal positional change over the dark table surface."}, {"label": "subtasks", "start_step": 1028, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: hold: Right hand holds the flipped orange lego block steadily on the dark table surface without visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1177, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: lift_transport: Right hand lifts the orange lego block off the dark supporting surface and transports it leftward toward the stacked green and blue lego assembly."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand makes minor positional adjustments to align the held orange lego block and mates it onto the top of the stacked lego assembly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: release: Right hand opens its fingers to release the mated orange lego block on top of the stacked lego assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1349, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00023", "text": "Left hand: return_home: Left hand moves downward from the upper left resting position to the left home position, with fingers spreading from a closed extended state to a natural relaxed state, and stops steadily at the home position. | Right hand: retreat: Right hand moves upward away from the lego stack on the dark table surface, with fingers gradually spreading open during the upward movement."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00024", "text": "Left hand: return_home: Left hand moves downward from the upper left resting position to the left home position, with fingers spreading from a closed extended state to a natural relaxed state, and stops steadily at the home position. | Right hand: return_home: Right hand moves downward from the upper right area to the right home position, adjusting wrist and finger posture, and stops steadily at the home position."}], "episode_index": 35}
+{"source_uid": "5dd9e0425ee96449", "num_frames": 1198, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: idle: Right hand remains empty in the upper right resting position with fingers extended, showing no obvious movement toward the lego bricks."}, {"label": "valid", "start_step": 0, "end_step": 1146, "id": "3LqJ0ZsVOr0viNFTCpj8H"}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward toward the small bright green 2x2 lego brick on the black table surface, with fingers slightly curved as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts fingers around the small bright green 2x2 lego brick, making contact with the brick that stays on the table to begin forming a stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger contact positions and closes its fingers around the small bright green 2x2 lego brick resting on the dark flat supporting surface to establish a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped small bright green 2x2 lego brick completely off the supporting surface and moves it toward the adjacent green lego pieces."}, {"label": "subtasks", "start_step": 225, "end_step": 471, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the small bright green 2x2 lego brick resting on the larger green lego brick, making continuous fine adjustments to the brick's position via slight finger and wrist movements."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand opens fingers to release the small bright green 2x2 lego brick, lifting fingers away from the brick surface."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves leftward while empty from the position above the stacked green bricks, approaching the blue 2x2 brick on the dark supporting surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the blue 2x2 brick, making small adjustments to finger positions to establish a stable grasp while the brick stays on the supporting surface."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: lift: Right hand holds the grasped blue 2x2 brick and moves upward, lifting the brick completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: transport: Right hand holds the grasped blue 2x2 lego brick and moves it rightward and downward to the position directly above the green 2x2 lego brick on the dark surface."}, {"label": "subtasks", "start_step": 622, "end_step": 749, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: place: Right hand lowers the blue 2x2 lego brick onto the top of the green lego brick, making slight positional adjustments to align the bricks while maintaining a firm grip."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves empty rightward and slightly upward away from the stacked green and blue lego bricks, approaching the small orange 2x2 lego brick on the dark gray work surface."}, {"label": "subtasks", "start_step": 802, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the orange 2x2 lego brick, making contact with the brick surface to form a grip."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: transport_place: Right hand holds the grasped orange 2x2 lego brick, moves it leftward through the air and places it onto the top surface of the blue lego brick on the stacked structure."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: mate: Right hand adjusts the position of the orange lego brick to align its connection points with the blue lego brick below to form an assembled fit."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: hold: Right hand holds the aligned orange lego brick steadily on top of the blue lego brick without movement."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the orange lego brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the orange lego brick to secure the assembled lego structure."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand opens fingers to release contact with the top of the stacked lego blocks, fully separating from the lego stack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1197, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: return_home: Right hand moves empty upward and backward away from the lego stack, adjusting finger posture gradually until stopping stably at the right home position."}, {"label": "home", "start_step": 1147, "end_step": 1197, "id": "evQYvlH-mpDzl5pq2RKee"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: idle: Right hand remains empty in the upper right resting position with fingers extended, showing no obvious movement toward the lego bricks."}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward toward the small bright green 2x2 lego brick on the black table surface, with fingers slightly curved as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts fingers around the small bright green 2x2 lego brick, making contact with the brick that stays on the table to begin forming a stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger contact positions and closes its fingers around the small bright green 2x2 lego brick resting on the dark flat supporting surface to establish a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped small bright green 2x2 lego brick completely off the supporting surface and moves it toward the adjacent green lego pieces."}, {"label": "subtasks", "start_step": 225, "end_step": 471, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the small bright green 2x2 lego brick resting on the larger green lego brick, making continuous fine adjustments to the brick's position via slight finger and wrist movements."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand opens fingers to release the small bright green 2x2 lego brick, lifting fingers away from the brick surface."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves leftward while empty from the position above the stacked green bricks, approaching the blue 2x2 brick on the dark supporting surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the blue 2x2 brick, making small adjustments to finger positions to establish a stable grasp while the brick stays on the supporting surface."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: lift: Right hand holds the grasped blue 2x2 brick and moves upward, lifting the brick completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: transport: Right hand holds the grasped blue 2x2 lego brick and moves it rightward and downward to the position directly above the green 2x2 lego brick on the dark surface."}, {"label": "subtasks", "start_step": 622, "end_step": 749, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: place: Right hand lowers the blue 2x2 lego brick onto the top of the green lego brick, making slight positional adjustments to align the bricks while maintaining a firm grip."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves empty rightward and slightly upward away from the stacked green and blue lego bricks, approaching the small orange 2x2 lego brick on the dark gray work surface."}, {"label": "subtasks", "start_step": 802, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the orange 2x2 lego brick, making contact with the brick surface to form a grip."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: transport_place: Right hand holds the grasped orange 2x2 lego brick, moves it leftward through the air and places it onto the top surface of the blue lego brick on the stacked structure."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: mate: Right hand adjusts the position of the orange lego brick to align its connection points with the blue lego brick below to form an assembled fit."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: hold: Right hand holds the aligned orange lego brick steadily on top of the blue lego brick without movement."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the orange lego brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the orange lego brick to secure the assembled lego structure."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand opens fingers to release contact with the top of the stacked lego blocks, fully separating from the lego stack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1197, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: return_home: Right hand moves empty upward and backward away from the lego stack, adjusting finger posture gradually until stopping stably at the right home position."}], "episode_index": 36}
+{"source_uid": "cb6e96eba0aab05a", "num_frames": 1411, "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": 44, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward to the left side of the table. | Right hand: reach: Right hand moves forward and downward toward the blue block on the table."}, {"label": "valid", "start_step": 0, "end_step": 1362, "id": "BguG4WdH_ozkdWOyU8QGL"}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward and downward toward the blue block on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the small green block on the black table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the small green block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and transports it above the larger green block."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "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 onto the larger green block on the table."}, {"label": "subtasks", "start_step": 240, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green building block on the table surface downward."}, {"label": "subtasks", "start_step": 398, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand lifts fingers and moves away from the green building block."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand contacts the green block, adjusts fingers on the block surface, and lifts fingers away from the block."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the blue block placed on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the blue block."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00013", "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 upwards away from the table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the blue block and transports it toward the green block on the table."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the green block to fit them together."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the assembled blue and green blocks without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "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 aligns the orange block with the blue block on the green base."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00018", "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 blue block."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00019", "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 blue block."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block to the area next to the green base."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip to grasp the orange block placed on the dark table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00023", "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 away from the dark table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the orange block with the stacked green and blue blocks by aligning and pressing it into place."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "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 blue block on top of the stacked blocks placed on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the stacked blocks."}, {"label": "subtasks", "start_step": 1350, "end_step": 1410, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "home", "start_step": 1363, "end_step": 1410, "id": "mZ941tkvF3hx6VLUhkAY-"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward to the left side of the table. | Right hand: reach: Right hand moves forward and downward toward the blue block on the table."}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward and downward toward the blue block on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the small green block on the black table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the small green block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and transports it above the larger green block."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "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 onto the larger green block on the table."}, {"label": "subtasks", "start_step": 240, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green building block on the table surface downward."}, {"label": "subtasks", "start_step": 398, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand lifts fingers and moves away from the green building block."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand contacts the green block, adjusts fingers on the block surface, and lifts fingers away from the block."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the blue block placed on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the blue block."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00013", "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 upwards away from the table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the blue block and transports it toward the green block on the table."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the green block to fit them together."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the assembled blue and green blocks without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "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 aligns the orange block with the blue block on the green base."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00018", "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 blue block."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00019", "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 blue block."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block to the area next to the green base."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip to grasp the orange block placed on the dark table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00023", "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 away from the dark table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the orange block with the stacked green and blue blocks by aligning and pressing it into place."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "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 blue block on top of the stacked blocks placed on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the stacked blocks."}, {"label": "subtasks", "start_step": 1350, "end_step": 1410, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}], "episode_index": 37}
+{"source_uid": "10dec1fd7c95effe", "num_frames": 1361, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:move_upper_left: Left hand moves empty upward and slightly left to the upper left position above the black table. | Right hand: other:move_upper_right: Right hand moves empty upward to the upper right position above the black table."}, {"label": "valid", "start_step": 0, "end_step": 1315, "id": "MkBDNWZ7-kO7uIdXfIZkY"}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: other:move_upper_right: Right hand moves empty upward to the upper right position above the black table."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves empty downward toward the small green 2-stud block resting on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand curls fingers to close around the small green block, adjusting finger positions to form a grasp."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand adjusts finger positions and closes around the small lime green lego block resting on the dark work surface to establish a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift: Right hand lifts the grasped small lime green lego block upward until the block fully leaves the dark work surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: transport: Right hand carries the grasped small lime green lego block, moving it horizontally across the workspace."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: place: Right hand lowers the grasped small lime green lego block downward until the block rests stably on the dark work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the small lime green lego block, separating the fingers from the block."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: idle: Right hand remains empty next to the small lime green lego block on the work surface without moving."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_grasp: Right hand moves fingers to the small lime green lego block, closes fingers around the block to re-establish a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift_transport: Right hand lifts the small lime green lego block off the dark work surface, moves it to the larger green lego block, sets the block on the larger block's surface."}, {"label": "subtasks", "start_step": 375, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: hold: Right hand holds the small lime green lego block stably on top of the larger green lego block without any movement."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the small lime green lego block resting on the dark flat surface, lifting fingers away from the block."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_press: Right hand moves its index finger to the top surface of the small lime green lego block, presses down slightly and makes small positional adjustments to the block on the dark surface."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: retreat: Right hand lifts its index finger off the small lime green lego block and retreats slightly away from the block."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves leftward with slightly open fingers, approaching the blue lego block resting on the dark table."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand closes fingers around the blue lego block, making small grip adjustments while the block stays on the table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift: Right hand lifts the grasped blue lego block upward, completely separating the block from the dark table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: transport_place: Right hand carries the grasped blue lego block rightward and downward, placing it onto the top surface of the nearby green lego block."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: hold: Right hand holds the blue lego block steady on top of the green lego block with no visible movement of the hand or blocks."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the blue lego block stacked on top of the green and yellow lego piece."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves empty fingers slightly toward the released blue lego block on the dark gray surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: other:tap_and_adjust: Right hand contacts the blue lego block, taps it and slightly adjusts its position on the surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves rightward toward the orange lego block on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand closes fingers around the orange lego block on the dark table surface, making small adjustments to finger positions to secure the grip."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: place: Right hand grips the orange lego block, lifts it from the table surface, moves it leftward over the blue lego block, and lowers it to rest on top of the blue lego block."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand makes slight finger adjustments to its grip on the orange lego block resting on the blue lego block to stabilize contact with the block."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens its fingers gradually to release the orange lego block, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: retreat: Right hand moves empty away from the lego stack, retreating to the right side of the orange lego block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_press: Right hand moves empty leftward toward the top surface of the orange lego block and presses down on the block's top surface with fingers applying vertical downward pressure."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand releases the stacked lego block resting on the dark gray table, opening fingers to break contact with the orange top section of the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: return_home: Right hand remains empty, moves downward from the area adjacent to the lego block to the lower right home position, and comes to a stable stop."}, {"label": "home", "start_step": 1316, "end_step": 1360, "id": "k1Y7Hbn8MQeBRt0dvVoQi"}, {"label": "subtasks", "start_step": 1320, "end_step": 1360, "id": "reasoning-language-00034", "text": "Left hand: return_home: Left hand remains empty, moves downward from the upper left position to the lower left home position with slight wrist rotation, and comes to a stable stop at the home position. | Right hand: return_home: Right hand remains empty, moves downward from the area adjacent to the lego block to the lower right home position, and comes to a stable stop."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:move_upper_left: Left hand moves empty upward and slightly left to the upper left position above the black table. | Right hand: other:move_upper_right: Right hand moves empty upward to the upper right position above the black table."}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: other:move_upper_right: Right hand moves empty upward to the upper right position above the black table."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves empty downward toward the small green 2-stud block resting on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand curls fingers to close around the small green block, adjusting finger positions to form a grasp."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand adjusts finger positions and closes around the small lime green lego block resting on the dark work surface to establish a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift: Right hand lifts the grasped small lime green lego block upward until the block fully leaves the dark work surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: transport: Right hand carries the grasped small lime green lego block, moving it horizontally across the workspace."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: place: Right hand lowers the grasped small lime green lego block downward until the block rests stably on the dark work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the small lime green lego block, separating the fingers from the block."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: idle: Right hand remains empty next to the small lime green lego block on the work surface without moving."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_grasp: Right hand moves fingers to the small lime green lego block, closes fingers around the block to re-establish a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift_transport: Right hand lifts the small lime green lego block off the dark work surface, moves it to the larger green lego block, sets the block on the larger block's surface."}, {"label": "subtasks", "start_step": 375, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: hold: Right hand holds the small lime green lego block stably on top of the larger green lego block without any movement."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the small lime green lego block resting on the dark flat surface, lifting fingers away from the block."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_press: Right hand moves its index finger to the top surface of the small lime green lego block, presses down slightly and makes small positional adjustments to the block on the dark surface."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: retreat: Right hand lifts its index finger off the small lime green lego block and retreats slightly away from the block."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves leftward with slightly open fingers, approaching the blue lego block resting on the dark table."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand closes fingers around the blue lego block, making small grip adjustments while the block stays on the table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift: Right hand lifts the grasped blue lego block upward, completely separating the block from the dark table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: transport_place: Right hand carries the grasped blue lego block rightward and downward, placing it onto the top surface of the nearby green lego block."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: hold: Right hand holds the blue lego block steady on top of the green lego block with no visible movement of the hand or blocks."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the blue lego block stacked on top of the green and yellow lego piece."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves empty fingers slightly toward the released blue lego block on the dark gray surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: other:tap_and_adjust: Right hand contacts the blue lego block, taps it and slightly adjusts its position on the surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves rightward toward the orange lego block on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand closes fingers around the orange lego block on the dark table surface, making small adjustments to finger positions to secure the grip."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: place: Right hand grips the orange lego block, lifts it from the table surface, moves it leftward over the blue lego block, and lowers it to rest on top of the blue lego block."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand makes slight finger adjustments to its grip on the orange lego block resting on the blue lego block to stabilize contact with the block."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens its fingers gradually to release the orange lego block, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: retreat: Right hand moves empty away from the lego stack, retreating to the right side of the orange lego block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_press: Right hand moves empty leftward toward the top surface of the orange lego block and presses down on the block's top surface with fingers applying vertical downward pressure."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand releases the stacked lego block resting on the dark gray table, opening fingers to break contact with the orange top section of the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: return_home: Right hand remains empty, moves downward from the area adjacent to the lego block to the lower right home position, and comes to a stable stop."}, {"label": "subtasks", "start_step": 1320, "end_step": 1360, "id": "reasoning-language-00034", "text": "Left hand: return_home: Left hand remains empty, moves downward from the upper left position to the lower left home position with slight wrist rotation, and comes to a stable stop at the home position. | Right hand: return_home: Right hand remains empty, moves downward from the area adjacent to the lego block to the lower right home position, and comes to a stable stop."}], "episode_index": 38}
+{"source_uid": "0d0a621b7106c652", "num_frames": 1219, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1176, "id": "cfkyreRDcWEVfChpJ0gB1"}, {"label": "subtasks", "start_step": 15, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: other:rise_slightly_upward: Left hand rises slightly upward at the left side of the black table with fingers extended, keeping empty and not contacting any object."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00002", "text": "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 2-stud brick on the dark flat surface."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green 2-stud brick on the dark flat surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green 2-stud brick on the dark surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "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 2-stud brick off the dark surface and moves it rightward to the position above another green brick."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "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 2-stud brick onto the upper surface of the lower green brick until it is supported."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the small green 2-stud brick on the lower green brick without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its grip on the small green 2-stud brick, with fingers slightly closing and repositioning on the brick surface."}, {"label": "subtasks", "start_step": 270, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: push: Right hand pushes the small green 2-stud brick leftward on the dark flat surface, with the brick remaining in contact with the surface during movement."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves leftward and upward from above the green brick toward the blue brick."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue brick on the dark surface, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue dice on the table, with fingers closing and making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the blue dice from the table and transports it rightward above the green block."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place: Right hand places the blue dice onto the green block."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand holds the blue dice and aligns it with the green brick assembly on the dark surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the blue dice, with fingers opening and separating from the dice."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves upward away from the blue dice as an empty hand."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach_grasp: Right hand reaches toward the blue dice and grasps it with fingers closing around the dice."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the blue dice to align with the green brick assembly on the dark surface."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "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 blue dice, with fingers opening and separating from the dice."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves backward and upward away from the blue dice as an empty hand."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves leftward and upward toward the orange brick on the dark working surface with fingers open."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange brick on the dark working surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange 2x2 brick on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the orange 2x2 brick off the table and transports it leftward to the position above the green-blue stacked brick."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00026", "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 2x2 brick onto the green-blue stacked brick on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand mates the orange 2x2 brick with the green brick beneath it."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the orange 2x2 brick to align it with the blue brick below for assembly."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00029", "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 2x2 brick downward onto the blue brick to secure the assembly."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release_retreat: Right hand releases the orange 2x2 brick and retreats upward away from the brick stack."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: return_home: Left hand moves leftward from the area near the stacked colorful building blocks on the table and stops at the left home position. | Right hand: return_home: Right hand moves rightward from the area near the stacked colorful building blocks on the table and stops at the right home position."}, {"label": "home", "start_step": 1177, "end_step": 1218, "id": "MuNx_8J9BM9X-leGwL9kD"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: other:rise_slightly_upward: Left hand rises slightly upward at the left side of the black table with fingers extended, keeping empty and not contacting any object."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00002", "text": "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 2-stud brick on the dark flat surface."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green 2-stud brick on the dark flat surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green 2-stud brick on the dark surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "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 2-stud brick off the dark surface and moves it rightward to the position above another green brick."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "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 2-stud brick onto the upper surface of the lower green brick until it is supported."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the small green 2-stud brick on the lower green brick without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its grip on the small green 2-stud brick, with fingers slightly closing and repositioning on the brick surface."}, {"label": "subtasks", "start_step": 270, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: push: Right hand pushes the small green 2-stud brick leftward on the dark flat surface, with the brick remaining in contact with the surface during movement."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves leftward and upward from above the green brick toward the blue brick."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue brick on the dark surface, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue dice on the table, with fingers closing and making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the blue dice from the table and transports it rightward above the green block."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place: Right hand places the blue dice onto the green block."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand holds the blue dice and aligns it with the green brick assembly on the dark surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the blue dice, with fingers opening and separating from the dice."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves upward away from the blue dice as an empty hand."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach_grasp: Right hand reaches toward the blue dice and grasps it with fingers closing around the dice."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the blue dice to align with the green brick assembly on the dark surface."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "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 blue dice, with fingers opening and separating from the dice."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves backward and upward away from the blue dice as an empty hand."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves leftward and upward toward the orange brick on the dark working surface with fingers open."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange brick on the dark working surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange 2x2 brick on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the orange 2x2 brick off the table and transports it leftward to the position above the green-blue stacked brick."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00026", "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 2x2 brick onto the green-blue stacked brick on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand mates the orange 2x2 brick with the green brick beneath it."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the orange 2x2 brick to align it with the blue brick below for assembly."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00029", "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 2x2 brick downward onto the blue brick to secure the assembly."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release_retreat: Right hand releases the orange 2x2 brick and retreats upward away from the brick stack."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: return_home: Left hand moves leftward from the area near the stacked colorful building blocks on the table and stops at the left home position. | Right hand: return_home: Right hand moves rightward from the area near the stacked colorful building blocks on the table and stops at the right home position."}], "episode_index": 39}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/episodes.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ef1f617061e0af7572ec385094eaff71e11a6b21
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,40 @@
+{"episode_index": 0, "tasks": ["Task: stack_blocks"], "length": 1792}
+{"episode_index": 1, "tasks": ["Task: stack_blocks"], "length": 1535}
+{"episode_index": 2, "tasks": ["Task: stack_blocks"], "length": 1563}
+{"episode_index": 3, "tasks": ["Task: stack_blocks"], "length": 3340}
+{"episode_index": 4, "tasks": ["Task: stack_blocks"], "length": 1602}
+{"episode_index": 5, "tasks": ["Task: stack_blocks"], "length": 1671}
+{"episode_index": 6, "tasks": ["Task: stack_blocks"], "length": 1161}
+{"episode_index": 7, "tasks": ["Task: stack_blocks"], "length": 1698}
+{"episode_index": 8, "tasks": ["Task: stack_blocks"], "length": 1175}
+{"episode_index": 9, "tasks": ["Task: stack_blocks"], "length": 1032}
+{"episode_index": 10, "tasks": ["Task: stack_blocks"], "length": 1656}
+{"episode_index": 11, "tasks": ["Task: stack_blocks"], "length": 958}
+{"episode_index": 12, "tasks": ["Task: stack_blocks"], "length": 1230}
+{"episode_index": 13, "tasks": ["Task: stack_blocks"], "length": 1796}
+{"episode_index": 14, "tasks": ["Task: stack_blocks"], "length": 2206}
+{"episode_index": 15, "tasks": ["Task: stack_blocks"], "length": 2547}
+{"episode_index": 16, "tasks": ["Task: stack_blocks"], "length": 1352}
+{"episode_index": 17, "tasks": ["Task: stack_blocks"], "length": 1516}
+{"episode_index": 18, "tasks": ["Task: stack_blocks"], "length": 1562}
+{"episode_index": 19, "tasks": ["Task: stack_blocks"], "length": 1174}
+{"episode_index": 20, "tasks": ["Task: stack_blocks"], "length": 1767}
+{"episode_index": 21, "tasks": ["Task: stack_blocks"], "length": 1461}
+{"episode_index": 22, "tasks": ["Task: stack_blocks"], "length": 1101}
+{"episode_index": 23, "tasks": ["Task: stack_blocks"], "length": 1590}
+{"episode_index": 24, "tasks": ["Task: stack_blocks"], "length": 1642}
+{"episode_index": 25, "tasks": ["Task: stack_blocks"], "length": 1285}
+{"episode_index": 26, "tasks": ["Task: stack_blocks"], "length": 1116}
+{"episode_index": 27, "tasks": ["Task: stack_blocks"], "length": 2864}
+{"episode_index": 28, "tasks": ["Task: stack_blocks"], "length": 2594}
+{"episode_index": 29, "tasks": ["Task: stack_blocks"], "length": 2314}
+{"episode_index": 30, "tasks": ["Task: stack_blocks"], "length": 2068}
+{"episode_index": 31, "tasks": ["Task: stack_blocks"], "length": 2223}
+{"episode_index": 32, "tasks": ["Task: stack_blocks"], "length": 1398}
+{"episode_index": 33, "tasks": ["Task: stack_blocks"], "length": 1811}
+{"episode_index": 34, "tasks": ["Task: stack_blocks"], "length": 2376}
+{"episode_index": 35, "tasks": ["Task: stack_blocks"], "length": 1412}
+{"episode_index": 36, "tasks": ["Task: stack_blocks"], "length": 1198}
+{"episode_index": 37, "tasks": ["Task: stack_blocks"], "length": 1411}
+{"episode_index": 38, "tasks": ["Task: stack_blocks"], "length": 1361}
+{"episode_index": 39, "tasks": ["Task: stack_blocks"], "length": 1219}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/episodes_stats.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bb236eda354a10735cc0d49214099f4d553c68bd
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,40 @@
+{"episode_index": 0, "stats": {"observation.state": {"min": [1.0339515209197998, -0.7907372713088989, -0.14890889823436737, 1.160128116607666, -0.10047658532857895, -0.7680984735488892, 0.5202575325965881, 0.006165061146020889, -0.03529038652777672, -0.27566954493522644, -0.3130929172039032, 0.0030588137451559305, -0.11273536086082458, 0.00011259932944085449, 0.0033325364347547293, 0.0008766470709815621, -0.1724090278148651, 0.0041394317522645, 0.003420113353058696, 0.0008252100087702274, -0.1744164228439331, -0.0002011579490499571, 0.0031034888233989477, 0.0008358521736226976, 0.0056921131908893585, -0.14583781361579895, -0.03846453130245209, 0.0024464838206768036, 0.0008553627412766218, 1.0509413480758667, -0.7958211302757263, -0.23194317519664764, 1.0002151727676392, -1.4081244468688965, -0.7675259709358215, -0.2800268530845642, 0.007368911989033222, -0.312948077917099, 0.003038227092474699, -0.17528946697711945, 0.0034045125357806683, 0.005122405476868153, -0.08337739109992981, -0.002573062665760517, -0.002380737569183111, 0.0036882988642901182, -0.00018987311341334134, 0.0026003641542047262, 0.0004868783289566636, -0.001800115336664021, -0.02854868397116661, 0.00024500294239260256, 0.0008487114100717008, 0.00042278761975467205, -0.04320767894387245, -0.03756643086671829, 0.0034771980717778206, 0.0009032524540089071, 0.5623956918716431, -1.1070547103881836, 0.5455219149589539, -0.025598304346203804, 0.0003834952076431364, 0.0003834952076431364, -0.8729309439659119], "max": [1.1648567914962769, -0.6334847807884216, -0.0007565641426481307, 1.5688434839248657, -0.000574044359382242, -0.05053148418664932, 0.6981622576713562, 1.0184593200683594, 0.01829824410378933, 0.00029376527527347207, -0.0038515273481607437, 0.47961190342903137, 0.3415070176124573, 0.14366090297698975, 0.06202084943652153, 0.29050007462501526, 0.1406337171792984, 0.18168312311172485, 0.2428046613931656, 0.07335811108350754, 0.0052040922455489635, 0.16440466046333313, 0.44944852590560913, 0.3506978452205658, 0.013738992623984814, 0.0893949419260025, 0.05800405144691467, 0.0744745135307312, 0.06392650306224823, 1.2756316661834717, -0.29185569286346436, -0.0016002536285668612, 1.5996206998825073, 0.13966487348079681, -0.09528657048940659, 0.5920000672340393, 1.4752485752105713, 0.00043109492980875075, 0.8443085551261902, 0.3161032795906067, 0.4220418632030487, 0.9919583797454834, 0.2387390434741974, 0.7429925203323364, 0.7742722034454346, 1.468824863433838, 0.3141164779663086, 1.6556614637374878, 1.308229684829712, 1.4697297811508179, 0.277126282453537, 1.6548247337341309, 1.104783296585083, 0.07741829752922058, 1.4685635566711426, 0.3145352303981781, 1.6553292274475098, 1.3081902265548706, 0.5628750920295715, -1.106479525566101, 0.6890450119972229, 0.00882038939744234, 0.05637379363179207, 0.09481918811798096, -0.6021833419799805], "mean": [1.0754272937774658, -0.766146183013916, -0.12873388826847076, 1.3758728504180908, -0.09505429118871689, -0.19668138027191162, 0.5933015942573547, 0.9754038453102112, 0.00042679597390815616, -0.26402467489242554, -0.30071356892585754, 0.4703614413738251, 0.15737693011760712, 0.0789056271314621, 0.04429253935813904, 0.27915480732917786, -0.10570017248392105, 0.09658163785934448, 0.03351406008005142, 0.027983231469988823, -0.09682608395814896, 0.06134485453367233, 0.04087566211819649, 0.33180299401283264, 0.013101990334689617, -0.1330348700284958, -0.03142756596207619, 0.012418529018759727, 0.011303186416625977, 1.1580696105957031, -0.5815485715866089, -0.22133322060108185, 1.293526530265808, -1.135021448135376, -0.2800852656364441, 0.06998075544834137, 1.3316400051116943, -0.24185991287231445, 0.6357571482658386, -0.01240560133010149, 0.10822711139917374, 0.8325529098510742, 0.18123652040958405, 0.06656868010759354, 0.5048560500144958, 1.384373426437378, 0.1868525892496109, 1.4813268184661865, 1.031997799873352, 1.3777955770492554, 0.06391496956348419, 1.5417815446853638, 0.8500311970710754, 0.07189808785915375, 1.3743047714233398, 0.17470990121364594, 1.569083333015442, 1.2397323846817017, 0.562682032585144, -1.1068397760391235, 0.666659951210022, -0.005098138470202684, 0.04144686087965965, 0.07807691395282745, -0.8623448014259338], "std": [0.016194697469472885, 0.019928472116589546, 0.015391193330287933, 0.039215244352817535, 0.01081515196710825, 0.1407839059829712, 0.055631283670663834, 0.12273400276899338, 0.006150190718472004, 0.03414861485362053, 0.03858164697885513, 0.05996387079358101, 0.0732979103922844, 0.016514569520950317, 0.016998078674077988, 0.03592197224497795, 0.046344395726919174, 0.01786722056567669, 0.03878183290362358, 0.012395292520523071, 0.025292184203863144, 0.01914765127003193, 0.05861188843846321, 0.04259839281439781, 0.0017735394649207592, 0.03430284559726715, 0.012509563006460667, 0.008998746052384377, 0.007714038249105215, 0.02593114972114563, 0.15720714628696442, 0.02711305394768715, 0.1985873579978943, 0.31382086873054504, 0.1126302182674408, 0.17383819818496704, 0.17174755036830902, 0.04180549830198288, 0.17320753633975983, 0.08614411950111389, 0.11458662152290344, 0.1831345558166504, 0.05873483791947365, 0.08717169612646103, 0.2384824901819229, 0.3135869801044464, 0.05087894946336746, 0.45886024832725525, 0.2933546304702759, 0.33571305871009827, 0.039426740258932114, 0.4086804986000061, 0.23253802955150604, 0.017809245735406876, 0.35300543904304504, 0.05992015823721886, 0.33751338720321655, 0.26601383090019226, 5.715571023756638e-05, 4.737326889880933e-05, 0.02769806794822216, 0.009039358235895634, 0.011175758205354214, 0.012715497054159641, 0.0359843485057354], "count": [1792]}, "observation.state.joint_torque": {"min": [-48.60449981689453, -7.6605000495910645, -22.611000061035156, -8.206999778747559, -0.026399999856948853, -1.1263999938964844, 1.5368000268936157, -0.923307478427887, -0.4992228150367737, -0.23859640955924988, -0.4026314318180084, -0.12617947161197662, -0.7416658401489258, -0.3031907081604004, -0.10459613054990768, -0.03139413148164749, -0.3214205205440521, -0.3770694434642792, -0.28556403517723083, -0.06136125698685646, -0.9546669125556946, -0.5689623355865479, -0.46653199195861816, -0.04709119349718094, -0.07520598918199539, -0.9623426795005798, -1.1196948289871216, -0.22247432172298431, -0.04066966846585274, 11.998499870300293, -6.510000228881836, 3.296999931335449, -7.965000152587891, -1.6967999935150146, -1.9104000329971313, -2.9344000816345215, -1.1449012756347656, -0.6749695539474487, -0.6859646439552307, -0.43121325969696045, -0.14278201758861542, -1.3067903518676758, -0.34444761276245117, -0.5810896754264832, -0.21476440131664276, -0.7397469282150269, -0.2062848061323166, -0.12119869887828827, -0.0642152652144432, -1.1139379739761353, -1.3183038234710693, -0.06474998593330383, -0.04352368041872978, -0.12754231691360474, -0.7714092135429382, -0.4499887228012085, -0.47151273488998413, -0.09275539219379425, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-17.863500595092773, 11.82450008392334, -7.297999858856201, 1.2569999694824219, 1.9736000299453735, 1.306399941444397, 3.7263998985290527, 0.6851577758789062, 0.4890345633029938, 0.3131577670574188, 0.4908623695373535, 0.11123716086149216, 0.5056376457214355, 0.3319746255874634, 0.10957689583301544, 0.02354559674859047, 0.42216426134109497, 0.25425803661346436, 0.18760894238948822, 0.019264578819274902, 0.3290962278842926, 1.0227888822555542, 0.18760894238948822, 0.022118592634797096, 0.0021990055684000254, 0.806909441947937, 0.2369876652956009, 0.2307755947113037, 0.01855107769370079, 39.93000030517578, 10.306500434875488, 17.138999938964844, 1.4210000038146973, 0.3352000117301941, 2.496799945831299, 2.171999931335449, 1.7205356359481812, 2.753366470336914, 1.2054089307785034, 1.4154235124588013, 0.5146793723106384, 2.1444027423858643, 1.1081812381744385, 1.054262638092041, 0.21333740651607513, 0.7819633483886719, 1.4401558637619019, 0.3984614610671997, 0.1405600905418396, 0.5286648273468018, 0.17654141783714294, 0.3552948236465454, 0.11558748036623001, 0.13677813112735748, 0.5257863998413086, 0.4269615709781647, 0.11289741843938828, 0.05708024278283119, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-24.812318801879883, 4.677462100982666, -12.46516227722168, -4.466909885406494, 0.373020201921463, -0.13752594590187073, 2.1063144207000732, 0.01679113879799843, 0.002323189750313759, 0.0024673494044691324, -0.0122147211804986, 0.00012692726159002632, 0.048100851476192474, -0.019117509946227074, 0.002914716023951769, 0.0010216793743893504, 0.010113460943102837, -0.014877560548484325, 0.004373924806714058, 0.000495311280246824, 0.013172811828553677, 0.017515985295176506, 0.0034956198651343584, 0.00033883401192724705, -0.0006481643649749458, 0.0009578519384376705, -0.018678052350878716, 0.0007411851547658443, -0.0009297039941884577, 24.73172950744629, 1.3058850765228271, 11.189169883728027, -4.2876973152160645, -0.3550926744937897, 1.1480859518051147, -1.06546950340271, 0.08102179318666458, 0.327637255191803, 0.13873466849327087, 0.08217424154281616, 0.021892782300710678, 0.38634011149406433, 0.11838412284851074, 0.15625299513339996, 0.042357560247182846, 0.013781587593257427, 0.07791497558355331, 0.0024866783060133457, 0.0012641613138839602, 0.014924705028533936, -0.2224220335483551, 0.0004345190245658159, 0.0006028149509802461, 0.0003345170698594302, 0.019378233700990677, -0.034121498465538025, 0.0003919026639778167, 0.0029053811449557543, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.3308414220809937, 0.9375520348548889, 0.5960856080055237, 0.6908338665962219, 0.22341188788414001, 0.3190861940383911, 0.2211068719625473, 0.09886448830366135, 0.05718405544757843, 0.02943805418908596, 0.05311897397041321, 0.009715276770293713, 0.06952439993619919, 0.047943927347660065, 0.013733924366533756, 0.004331020172685385, 0.05222222954034805, 0.048651158809661865, 0.01780850626528263, 0.007928863167762756, 0.09692368656396866, 0.11733376979827881, 0.02580532617866993, 0.005605533253401518, 0.0030600782483816147, 0.12291291356086731, 0.10025475174188614, 0.025879206135869026, 0.007919874973595142, 3.4239389896392822, 1.9428778886795044, 1.5513995885849, 1.3315439224243164, 0.22927065193653107, 0.7169519662857056, 0.6805570721626282, 0.431744784116745, 0.5479137897491455, 0.28531888127326965, 0.22451533377170563, 0.06915714591741562, 0.6554520130157471, 0.26148033142089844, 0.26959264278411865, 0.08095134049654007, 0.07335498929023743, 0.1924283504486084, 0.019853288307785988, 0.010453741066157818, 0.1228247880935669, 0.22397829592227936, 0.014474892988801003, 0.010336528532207012, 0.013899405486881733, 0.06470917910337448, 0.10112970322370529, 0.017926039174199104, 0.005708151496946812, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1792]}, "observation.state.tcp": {"min": [0.36226123571395874, 0.19262388348579407, 0.9385761022567749, -1.2103451490402222, 1.193796157836914, -1.6684259176254272, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.34427979588508606, -0.2225767821073532, 0.9099137783050537, -0.4824273884296417, 1.220752239227295, 0.6348757147789001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4343407452106476, 0.24814994633197784, 1.0510830879211426, -0.8938272595405579, 1.6537795066833496, -1.229239583015442, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.47742199897766113, -0.011116410605609417, 1.0509979724884033, 1.2328505516052246, 2.2450199127197266, 1.5230087041854858, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3815597891807556, 0.22731922566890717, 0.9535983204841614, -1.1437064409255981, 1.516957402229309, -1.536106824874878, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3985143005847931, -0.10976823419332504, 0.941431999206543, -0.05743729695677757, 1.9904669523239136, 0.9477753639221191, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.00825379230082035, 0.011466733179986477, 0.019748710095882416, 0.06543956696987152, 0.12003335356712341, 0.09860273450613022, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.033679038286209106, 0.051722388714551926, 0.026697659865021706, 0.3269333839416504, 0.1825842708349228, 0.1886056661605835, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1792]}, "action": {"min": [1.033918857574463, -0.7907211780548096, -0.1488942801952362, 1.160186529159546, -0.10047727823257446, -0.7699999809265137, 0.5199999809265137, 0.0, -0.034024305641651154, -0.27449676394462585, -0.3328631520271301, 0.0, -0.11941444873809814, 0.0, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, 0.0, -0.15012450516223907, -0.1205027773976326, 0.0, 0.0, 1.0503180027008057, -0.79584139585495, -0.23192226886749268, 1.0001707077026367, -1.408120036125183, -0.76756352186203, -0.28041213750839233, 0.0, -0.3227876126766205, 0.0, -0.17553383111953735, -0.1738615334033966, 0.0, -0.08330363780260086, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.03364092856645584, 0.0, 0.0, 0.0, -0.04452381283044815, -0.07314116507768631, 0.0, 0.0, 0.5626833438873291, -1.1069231033325195, 0.5442397594451904, -0.025837816298007965, 0.0, 0.0, -0.8727390766143799], "max": [1.1648365259170532, -0.6335245370864868, -4.66646787459492e-18, 1.5700000524520874, 0.0, -0.050426553934812546, 0.8653854727745056, 1.031026840209961, 0.021102838218212128, 0.0, 0.0, 0.4822549521923065, 0.34913715720176697, 0.14362996816635132, 0.06788524985313416, 0.2928944230079651, 0.14581336081027985, 0.1817874312400818, 0.2519783675670624, 0.07552935928106308, 0.0, 0.16874855756759644, 0.4688316583633423, 0.3529786765575409, 0.01587669923901558, 0.09852414578199387, 0.057726673781871796, 0.07838638871908188, 0.06707324832677841, 1.2758488655090332, -0.29184430837631226, -0.00118452834431082, 1.599784255027771, 0.13966555893421173, -0.09526166319847107, 0.5922790169715881, 1.481359839439392, 0.0, 0.8424878120422363, 0.3490658402442932, 0.42765042185783386, 1.01319420337677, 0.280345618724823, 0.7449396252632141, 0.7747077941894531, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 1.5707963705062866, 0.2787157893180847, 1.7453292608261108, 1.105329155921936, 0.09367828816175461, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.6898307800292969, 0.009351526387035847, 0.05678444728255272, 0.09510020166635513, -0.6000000238418579], "mean": [1.075424313545227, -0.7661360502243042, -0.12874411046504974, 1.3757305145263672, -0.09505456686019897, -0.19692155718803406, 0.60549396276474, 0.9805073142051697, -0.0008305444498546422, -0.26297006011009216, -0.31247422099113464, 0.4722954332828522, 0.16523858904838562, 0.07892478257417679, 0.047152694314718246, 0.2826000452041626, -0.10674276202917099, 0.09653164446353912, 0.0373578779399395, 0.02955612726509571, -0.09544271230697632, 0.061089564114809036, 0.04349751025438309, 0.3329078257083893, 0.0002777395420707762, -0.13787509500980377, -0.03549366444349289, 0.015889350324869156, 0.013468232937157154, 1.1581498384475708, -0.5815977454185486, -0.2213447242975235, 1.2934597730636597, -1.1348778009414673, -0.2801792621612549, 0.07008333504199982, 1.3316543102264404, -0.24011507630348206, 0.6346615552902222, -0.012078702449798584, 0.08416595309972763, 0.8343242406845093, 0.18610064685344696, 0.06692792475223541, 0.5078358054161072, 1.4814215898513794, 0.18663963675498962, 1.5389350652694702, 1.0388699769973755, 1.4761468172073364, 0.06050993874669075, 1.6252145767211914, 0.8498099446296692, 0.08530090004205704, 1.4714841842651367, 0.1733904331922531, 1.653012990951538, 1.3223819732666016, 0.5626831650733948, -1.10684335231781, 0.6667075753211975, -0.005107029806822538, 0.04149124026298523, 0.07810891419649124, -0.8622902035713196], "std": [0.016168519854545593, 0.01999381184577942, 0.015384908765554428, 0.03940308466553688, 0.010826264508068562, 0.1412006914615631, 0.08179172873497009, 0.13983900845050812, 0.005320309195667505, 0.03866744413971901, 0.04661658778786659, 0.06857694685459137, 0.0755719467997551, 0.01747445948421955, 0.018469814211130142, 0.0412515290081501, 0.047544874250888824, 0.019515763968229294, 0.039531052112579346, 0.013340549543499947, 0.02582366019487381, 0.019879896193742752, 0.05957195907831192, 0.048474542796611786, 0.001979923341423273, 0.03763919696211815, 0.019470835104584694, 0.009674830362200737, 0.008439128287136555, 0.026010911911725998, 0.15721583366394043, 0.02711447887122631, 0.19864532351493835, 0.3141399025917053, 0.1126215010881424, 0.17394833266735077, 0.1884310394525528, 0.04548650607466698, 0.17812220752239227, 0.09054360538721085, 0.1415567398071289, 0.1870683878660202, 0.0636238232254982, 0.08805657923221588, 0.24209564924240112, 0.34130847454071045, 0.051823269575834274, 0.48304641246795654, 0.3008723258972168, 0.362490713596344, 0.03936268016695976, 0.4326925575733185, 0.23292548954486847, 0.02223515696823597, 0.3791888356208801, 0.06255334615707397, 0.3603104054927826, 0.2882489264011383, 1.7962699416784744e-07, 2.1201249182922766e-05, 0.027802834287285805, 0.00908042024821043, 0.011229582130908966, 0.012884797528386116, 0.03632332757115364], "count": [1792]}, "observation.state.tcp_pose": {"min": [0.36226123571395874, 0.19262388348579407, 0.9385761022567749, -1.2103451490402222, 1.193796157836914, -1.6684259176254272, 0.34427979588508606, -0.2225767821073532, 0.9099137783050537, -0.4824273884296417, 1.220752239227295, 0.6348757147789001], "max": [0.4343407452106476, 0.24814994633197784, 1.0510830879211426, -0.8938272595405579, 1.6537795066833496, -1.229239583015442, 0.47742199897766113, -0.011116410605609417, 1.0509979724884033, 1.2328505516052246, 2.2450199127197266, 1.5230087041854858], "mean": [0.3815597891807556, 0.22731922566890717, 0.9535983204841614, -1.1437064409255981, 1.516957402229309, -1.536106824874878, 0.3985143005847931, -0.10976823419332504, 0.941431999206543, -0.05743729695677757, 1.9904669523239136, 0.9477753639221191], "std": [0.00825379230082035, 0.011466733179986477, 0.019748710095882416, 0.06543956696987152, 0.12003335356712341, 0.09860273450613022, 0.033679038286209106, 0.051722388714551926, 0.026697659865021706, 0.3269333839416504, 0.1825842708349228, 0.1886056661605835], "count": [1792]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.1924280971288681, 0.9387825131416321, -1.208855390548706, 1.159179449081421, -1.6683900356292725, 0.34420543909072876, -0.22248448431491852, 0.9100697636604309, -0.4819902777671814, 1.2206294536590576, 0.6368486881256104], "max": [0.4322474002838135, 0.24788764119148254, 1.0518032312393188, -0.8258375525474548, 1.6542373895645142, -1.2289544343948364, 0.47731032967567444, -0.011084238067269325, 1.0515292882919312, 1.2330917119979858, 2.245187282562256, 1.5235949754714966], "mean": [0.38145357370376587, 0.22737081348896027, 0.9544076919555664, -1.1354304552078247, 1.5070959329605103, -1.5418813228607178, 0.39855173230171204, -0.10978882014751434, 0.941439151763916, -0.05729082226753235, 1.9902231693267822, 0.947952389717102], "std": [0.008126350119709969, 0.011464091017842293, 0.021121196448802948, 0.08345074206590652, 0.13886579871177673, 0.08888108283281326, 0.033769454807043076, 0.05181789770722389, 0.02681262232363224, 0.32721203565597534, 0.18273715674877167, 0.18892094492912292], "count": [1792]}, "subtask_index": {"min": [0], "max": [43], "mean": [20.323660714285715], "std": [12.33231900156308], "count": [1792]}, "observation.tactile": {"min": [-0.02978537790477276, -3.307055521872826e-05, -7.435726001858711e-05, -0.0013376291608437896, -0.00024787485017441213, -0.0005800498183816671, -0.014728676527738571, -2.6053745386889204e-05, -5.465481444844045e-05, -0.0017769804690033197, -1.3036309610470198e-05, -0.00031255953945219517, -0.01619420386850834, -3.5862107324646786e-05, -7.81985727371648e-05, -0.001493658754043281, -4.3949719838565215e-05, -0.0003274184127803892, -0.07524774968624115, -3.421212750254199e-05, -7.543996616732329e-05, -0.0005406339187175035, -0.0001283682358916849, -0.0009654064779169858, -0.003109303768724203, -5.546591637539677e-05, -0.00012469633657019585, -0.0009052509558387101, -2.078765874102828e-06, -7.069087587296963e-05, -0.3436961770057678, -3.609889972722158e-05, -8.111994247883558e-05, -0.10154743492603302, -0.0004656326200347394, -0.02135196328163147, -2.540339231491089, 0.0, 0.0, -0.2738519012928009, -0.019905798137187958, -0.047808755189180374, -0.008589130826294422, -5.26588992215693e-05, -0.00011704558710334823, -0.0009512207470834255, -6.260374357225373e-05, -0.00018219328194390982, -0.008683612570166588, -4.343300679465756e-05, -9.548847447149456e-05, -0.002275613369420171, -0.00010979341459460557, -0.00022203986009117216, -0.0044602155685424805, -4.1746632632566616e-05, -9.343197598354891e-05, -0.0006727444706484675, -3.510814713081345e-05, -9.618839976610616e-05], "max": [0.00025587380514480174, 0.019494807347655296, 0.06010092422366142, 1.4303552688943455e-06, 5.6713575759204105e-05, 5.475435045809718e-06, 0.004426318686455488, 0.03445051610469818, 0.09951036423444748, 1.0086491784022655e-06, 0.0002670594258233905, 4.719320349977352e-05, 0.0017397328047081828, 0.026522692292928696, 0.07630528509616852, 1.4493730304820929e-06, 0.0001241567952092737, 1.4531507076753769e-05, 0.004334230907261372, 0.012240462936460972, 0.03234325349330902, 1.3891421986045316e-06, 0.00014607874618377537, 2.9434504540404305e-05, 0.003663852112367749, 0.017380444332957268, 0.04882947728037834, 2.3730360680929152e-06, 6.771596235921606e-05, 6.035188926034607e-05, 3.763658285140991, 4.071475505828857, 4.268115520477295, 1.4968761661293684e-06, 0.012660574167966843, 0.08781370520591736, 4.870779514312744, 11.146200180053711, 13.026520729064941, 0.0, 0.01087560597807169, 0.09537561982870102, 0.008268146775662899, 0.01601201295852661, 0.04652648791670799, 2.120664703397779e-06, 0.00026638145209290087, 7.227954483823851e-05, 0.012166709639132023, 0.043656088411808014, 0.12560611963272095, 1.7394843325746479e-06, 0.0003135442966595292, 0.0001092199599952437, 0.003941645380109549, 0.00973634421825409, 0.028300508856773376, 1.725727088341955e-06, 0.0001444284716853872, 2.625826164148748e-05], "mean": [-0.0012604267103597522, 0.0015676527982577682, 0.004615056328475475, -8.276094740722328e-05, -1.3528753697755747e-05, -1.9218487068428658e-05, -0.0014967130264267325, 0.008137906901538372, 0.023894714191555977, -0.00041681365109980106, 5.647752550430596e-05, -4.4484157115221024e-05, -0.001858089934103191, 0.0036884399596601725, 0.010799413546919823, -0.00018857167742680758, 1.0339609616494272e-05, -3.49947003996931e-05, -0.0002798519853968173, 0.000930957670789212, 0.0026833098381757736, -4.125573832425289e-05, -5.105038326291833e-06, -1.2810407952201786e-06, 9.090121602639556e-05, 0.0010523489909246564, 0.003113290062174201, -6.36417607893236e-05, 5.488435817824211e-06, -1.0954715179423147e-07, 0.7186852097511292, 0.9421132206916809, 0.97346031665802, -0.023545557633042336, 0.0025205169804394245, 0.015260362066328526, 0.06023368239402771, 1.7193104028701782, 3.497854709625244, -0.07425057888031006, -0.003795487340539694, 0.00279725668951869, 1.3882127859687898e-05, 0.0021853202488273382, 0.006291139405220747, -0.00014020763046573848, 8.57062332215719e-06, -3.4907775443571154e-06, -0.0005116454558447003, 0.0043848128989338875, 0.012371150776743889, -0.00024177848536055535, -6.785135155951139e-06, -1.0441623089718632e-05, -0.00044763967161998153, 0.0017080068355426192, 0.004865798633545637, -0.00010659523832146078, 2.421701310595381e-06, -1.2463759958336595e-05], "std": [0.0030718217603862286, 0.0028569393325597048, 0.008360637351870537, 0.00016218078962992877, 2.845650124072563e-05, 5.548803528654389e-05, 0.0023397295735776424, 0.007680881768465042, 0.022293271496891975, 0.0003957095032092184, 5.096940731164068e-05, 4.83012518088799e-05, 0.0027738772332668304, 0.0049873096868395805, 0.014634203165769577, 0.0002684842038433999, 2.133531597792171e-05, 5.4994350648485124e-05, 0.001971198245882988, 0.0016696901293471456, 0.004776739981025457, 7.403813651762903e-05, 1.5749179510748945e-05, 2.491773193469271e-05, 0.0004681890131905675, 0.0018022714648395777, 0.005196855403482914, 0.00010508962441235781, 1.0557816494838335e-05, 1.1588479537749663e-05, 1.0931756496429443, 1.3641952276229858, 1.3669945001602173, 0.033217187970876694, 0.003588502062484622, 0.024004466831684113, 1.0326342582702637, 2.3521292209625244, 4.681423664093018, 0.09886828064918518, 0.005659354850649834, 0.02090231515467167, 0.0007320359582081437, 0.0026465612463653088, 0.007589150685817003, 0.0001690487697487697, 2.5080977138713934e-05, 1.3889616639062297e-05, 0.001367513439618051, 0.006023135967552662, 0.01679626666009426, 0.0003686352865770459, 2.083755134663079e-05, 2.8068790925317444e-05, 0.0008284012437798083, 0.0018988788360729814, 0.0053823175840079784, 0.00012104018969694152, 1.2316553693381138e-05, 1.893791340989992e-05], "count": [1792]}, "timestamp": {"min": [0.0], "max": [59.7], "mean": [29.85], "std": [17.243525354946033], "count": [1792]}, "frame_index": {"min": [0], "max": [1791], "mean": [895.5], "std": [517.3057606483809], "count": [1792]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1792]}, "index": {"min": [0], "max": [1791], "mean": [895.5], "std": [517.3057606483809], "count": [1792]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1792]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5415915250778198]], [[0.5413212180137634]], [[0.5438210964202881]]], "std": [[[0.30511990189552307]], [[0.305216908454895]], [[0.30689841508865356]]], "count": [1792]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25922325253486633]], [[0.2605539858341217]], [[0.2606581747531891]]], "std": [[[0.1610371470451355]], [[0.1627861112356186]], [[0.16307194530963898]]], "count": [1792]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.19247275590896606]], [[0.19323700666427612]], [[0.191222682595253]]], "std": [[[0.1298755258321762]], [[0.13041113317012787]], [[0.1325898915529251]]], "count": [1792]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5441651344299316]], [[0.544043242931366]], [[0.5463886857032776]]], "std": [[[0.30455565452575684]], [[0.30462485551834106]], [[0.3067939877510071]]], "count": [1792]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.529411792755127]], [[0.529411792755127]], [[0.529411792755127]]], "mean": [[[0.0010274186497554183]], [[0.0010274186497554183]], [[0.0010274186497554183]]], "std": [[[0.01836179383099079]], [[0.01836179383099079]], [[0.01836179383099079]]], "count": [1792]}, "observation.images.tactile_raw": {"min": [[[0.027450980618596077]], [[0.027450980618596077]], [[0.027450980618596077]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4714248478412628]], [[0.4714248478412628]], [[0.4714248478412628]]], "std": [[[0.23768027126789093]], [[0.23768027126789093]], [[0.23768027126789093]]], "count": [1792]}}}
+{"episode_index": 1, "stats": {"observation.state": {"min": [1.050878882408142, -0.77971351146698, -0.19670259952545166, 1.1324067115783691, -0.05966166779398918, -0.7683862447738647, 0.3429342210292816, 0.006240222603082657, -0.09623222053050995, -0.2758975625038147, -0.30627870559692383, 0.003053495427593589, -0.015197459608316422, -0.05586805194616318, 0.003439969150349498, 0.000848267984110862, -0.17443311214447021, -0.0247401874512434, 0.003439259948208928, 0.0008438337245024741, -0.15011240541934967, -0.03793857991695404, 0.003054913831874728, 0.0008296442101709545, 0.00479194987565279, -0.14175675809383392, -0.038333285599946976, 0.003501308150589466, 0.0008580232970416546, 0.9400838613510132, -0.9485111832618713, -0.23337839543819427, 1.095800518989563, -1.1975980997085571, -0.9117691516876221, -0.14399777352809906, 0.007437569089233875, -0.311946302652359, 0.0032946800347417593, -0.0882692039012909, 0.0034779072739183903, 0.006900442764163017, -0.12276282161474228, 0.003124053357169032, 0.0007817545556463301, 0.003710131859406829, -0.024945508688688278, 0.002502504736185074, 0.0008442771504633129, -6.721572572132573e-05, -0.030892660841345787, 0.00355732929892838, 0.0008580232970416546, 0.005855876486748457, -0.05161067470908165, -0.03730345889925957, 0.003489253344014287, 0.000866004906129092, 0.5622039437294006, -1.1070547103881836, 0.5455219149589539, 0.0001917476038215682, -0.029145635664463043, 0.0001917476038215682, -0.8729309439659119], "max": [1.2753554582595825, -0.6362699270248413, -0.0014482935657724738, 1.5680289268493652, -0.0006785467849113047, 0.07346737384796143, 0.6981748342514038, 1.0422335863113403, 0.004143820144236088, 0.0017733881250023842, -0.005321301054209471, 0.47960373759269714, 0.8282790780067444, 0.13292373716831207, 0.2377556711435318, 0.2858946919441223, 0.4924046993255615, 0.1631118506193161, 0.20038580894470215, 0.04542113468050957, 0.4127884805202484, 0.1803760677576065, 0.5718585252761841, 0.360074907541275, 0.022824108600616455, 0.3622400164604187, 0.08419010043144226, 0.900485098361969, 0.7688420414924622, 1.3739557266235352, -0.3668949007987976, 6.591323653992731e-06, 1.7441883087158203, 0.2009057104587555, -0.12670309841632843, 0.5941572189331055, 1.4949841499328613, 0.0005161938024684787, 0.8088942170143127, 0.3153340816497803, 0.4308488368988037, 1.0398728847503662, 0.25526881217956543, 0.5472553968429565, 0.8437419533729553, 1.4688506126403809, 0.2839749753475189, 1.6556819677352905, 1.3082376718521118, 1.468987226486206, 0.24398265779018402, 1.6548186540603638, 1.3082526922225952, 0.06938748061656952, 1.467049241065979, 0.3156405985355377, 1.6546471118927002, 1.3082220554351807, 0.5636420845985413, -1.1060001850128174, 0.6993993520736694, 0.021379856392741203, 0.018311895430088043, 0.1125558391213417, -0.5812828540802002], "mean": [1.1566039323806763, -0.7365310788154602, -0.15021918714046478, 1.171422004699707, -0.03374800458550453, -0.13114382326602936, 0.5082396864891052, 0.9885499477386475, -0.010931689292192459, -0.266867071390152, -0.2928084135055542, 0.4678893983364105, 0.6734763979911804, 0.023737167939543724, 0.13041836023330688, 0.27384236454963684, 0.3775356709957123, 0.06054148077964783, 0.05357760563492775, 0.02299610897898674, 0.05083823576569557, 0.03136257082223892, 0.04865607991814613, 0.3242073059082031, 0.011343264952301979, -0.022043976932764053, -0.021630045026540756, 0.05042187497019768, 0.04347189888358116, 1.0367194414138794, -0.7275881171226501, -0.22081221640110016, 1.5177160501480103, -1.0390732288360596, -0.5867791175842285, 0.09686360508203506, 1.371677279472351, -0.24456393718719482, 0.5865795612335205, 0.04713140055537224, 0.14607323706150055, 0.8598632216453552, 0.19336746633052826, 0.08014409244060516, 0.5204156637191772, 1.3774534463882446, 0.19308970868587494, 1.5329952239990234, 1.1458423137664795, 1.3691682815551758, 0.16777586936950684, 1.5420572757720947, 1.1953850984573364, 0.0642053410410881, 1.3639086484909058, 0.2807863652706146, 1.5549674034118652, 1.2293238639831543, 0.5626832842826843, -1.1068497896194458, 0.6849408745765686, 0.010951703414320946, 0.003192297648638487, 0.09281034767627716, -0.8586140871047974], "std": [0.027605099603533745, 0.01589323580265045, 0.01960533857345581, 0.05515532195568085, 0.004567155614495277, 0.1781466156244278, 0.11072982847690582, 0.14138880372047424, 0.016516635194420815, 0.03901134431362152, 0.04249678924679756, 0.0677107498049736, 0.19473393261432648, 0.048403333872556686, 0.09630942344665527, 0.04100988432765007, 0.12373086810112, 0.04044641554355621, 0.06929673999547958, 0.013209931552410126, 0.12326986342668533, 0.04658901318907738, 0.06917965412139893, 0.048536378890275955, 0.007494194898754358, 0.1255042999982834, 0.019089292734861374, 0.08472074568271637, 0.07281002402305603, 0.07342647761106491, 0.1915467530488968, 0.03631167113780975, 0.18924099206924438, 0.28963014483451843, 0.13849002122879028, 0.14624443650245667, 0.19233252108097076, 0.05125473067164421, 0.1772286742925644, 0.07559031993150711, 0.11272715777158737, 0.19244472682476044, 0.066898413002491, 0.1004900187253952, 0.2099374234676361, 0.3267457187175751, 0.05501575022935867, 0.4123939275741577, 0.3204115033149719, 0.3498646914958954, 0.05238056555390358, 0.4072699546813965, 0.328346848487854, 0.015819845721125603, 0.36714571714401245, 0.07923794537782669, 0.37487170100212097, 0.2957368493080139, 9.976038563763723e-05, 8.812332089291885e-05, 0.019066719338297844, 0.00370348384603858, 0.00876240897923708, 0.020377105101943016, 0.05337594076991081], "count": [1535]}, "observation.state.joint_torque": {"min": [-46.18199920654297, -8.68649959564209, -21.166000366210938, -9.232999801635742, -0.3871999979019165, -1.2832000255584717, 1.0535999536514282, -0.8328869938850403, -0.5463433265686035, -0.23735369741916656, -0.3243419826030731, -0.11621791869401932, -0.322380006313324, -0.3012717664241791, -0.11289741843938828, -0.02996712550520897, -0.28783929347991943, -0.23410926759243011, -0.13448072969913483, -0.033534638583660126, -0.5104349851608276, -0.47493481636047363, -0.1859486699104309, -0.045664187520742416, -0.14733336865901947, -0.9594641923904419, -0.9018963575363159, -0.21749354898929596, -0.050658710300922394, -1.3244999647140503, -7.388999938964844, -8.673999786376953, -9.916000366210938, -1.4839999675750732, -4.636000156402588, -3.0927999019622803, -0.9194868803024292, -0.7870399951934814, -0.4722220301628113, -0.4399121403694153, -0.10127562284469604, -0.7215170860290527, -0.6812195181846619, -0.6325575709342957, -0.21333740651607513, -0.6629897952079773, -0.3022312521934509, -0.5927114486694336, -0.06778278201818466, -0.54881352186203, -0.357880175113678, -0.6541408896446228, -0.0827663391828537, -0.11522789299488068, -1.3499661684036255, -0.44135355949401855, -0.5462242364883423, -0.10916595906019211, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-8.746500015258789, 13.087499618530273, -2.240000009536743, 3.3580000400543213, 1.958400011062622, 1.1088000535964966, 3.691200017929077, 1.1882011890411377, 0.44064050912857056, 0.28209051489830017, 0.4386694133281708, 0.10791664570569992, 0.47013747692108154, 0.31566372513771057, 0.12783971428871155, 0.01855107769370079, 0.7272739410400391, 0.22163623571395874, 0.1959102302789688, 0.02354559674859047, 0.5622460842132568, 0.6773817539215088, 0.220814049243927, 0.021405089646577835, 0.11962589621543884, 0.5449756979942322, 0.2628931999206543, 0.22247432172298431, 0.03781566023826599, 45.32699966430664, 11.458499908447266, 19.281999588012695, 3.8540000915527344, 0.628000020980835, 2.274399995803833, 7.019999980926514, 1.642850399017334, 3.0615601539611816, 1.3706865310668945, 1.2165931463241577, 0.5163396596908569, 2.148240327835083, 2.1405646800994873, 1.0592433214187622, 0.21333740651607513, 1.1427218914031982, 0.45382654666900635, 0.10459613054990768, 0.05850724130868912, 1.0544512271881104, 0.6476383805274963, 0.08135254681110382, 0.06064775213599205, 0.1240239068865776, 0.4192858934402466, 0.40585336089134216, 0.29718583822250366, 0.0827663391828537, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.04267120361328, 5.611699104309082, -12.080089569091797, -2.1551907062530518, 0.15583421289920807, -0.08072970807552338, 2.0376296043395996, 0.04161501303315163, 0.004892498254776001, 0.0024748551659286022, -0.019344722852110863, 6.273182953009382e-05, 0.038565490394830704, -0.004108510445803404, 0.009949645027518272, 0.0006554026040248573, 0.03799109160900116, -0.030654046684503555, 0.003495735116302967, -0.001217836164869368, 0.03162110596895218, 0.011760467663407326, 0.01311548613011837, 0.0013661142438650131, -4.813441410078667e-05, 0.025522978976368904, -0.041228286921978, -0.0020420632790774107, 0.001139746862463653, 19.669687271118164, 2.587702989578247, 9.932050704956055, -6.311911582946777, -0.7240991592407227, 1.0252480506896973, -1.2087382078170776, 0.0139573710039258, 0.14747942984104156, 0.1198592260479927, 0.11126313358545303, 0.017169317230582237, 0.2075667828321457, 0.036932170391082764, 0.09730944037437439, 0.022176729515194893, 0.005724896211177111, -0.0224801916629076, 0.0031939649488776922, -0.0013623953564092517, 0.0045454241335392, -0.013600017875432968, -0.00047806816291995347, -0.0005210668314248323, 0.0007426521042361856, 0.01240114588290453, -0.009254624135792255, 0.001202740822918713, 0.002624857472255826, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.2095507383346558, 1.0505095720291138, 0.6955341696739197, 0.6843764781951904, 0.29568296670913696, 0.3208256959915161, 0.29057633876800537, 0.1337258666753769, 0.0786457285284996, 0.036775853484869, 0.059044912457466125, 0.010245164856314659, 0.08434180170297623, 0.05600587651133537, 0.021343639120459557, 0.007220287807285786, 0.06925498694181442, 0.046572647988796234, 0.01880422979593277, 0.006828728597611189, 0.08392597734928131, 0.08297135680913925, 0.0320984423160553, 0.006272686645388603, 0.015032134018838406, 0.12742193043231964, 0.11159233003854752, 0.025946151465177536, 0.009624614380300045, 4.537533760070801, 3.2056610584259033, 2.4124562740325928, 1.8293949365615845, 0.24854981899261475, 0.7878425121307373, 1.0950870513916016, 0.30145031213760376, 0.4400779902935028, 0.28299087285995483, 0.23626692593097687, 0.06005663424730301, 0.5330284237861633, 0.3474651575088501, 0.2295306771993637, 0.07120595872402191, 0.06365993618965149, 0.06641390919685364, 0.022411976009607315, 0.008040976710617542, 0.0557483434677124, 0.06713870912790298, 0.018994515761733055, 0.009097801521420479, 0.014055459760129452, 0.07134463638067245, 0.08713944256305695, 0.02307092398405075, 0.006294905208051205, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1535]}, "observation.state.tcp": {"min": [0.3624963164329529, 0.1890077441930771, 0.9330564141273499, -1.2780603170394897, 1.2159276008605957, -1.5652230978012085, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.26909682154655457, -0.23373930156230927, 0.8870028257369995, -0.10973837226629257, 1.2190511226654053, 0.7167583703994751, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.48181459307670593, 0.2702970504760742, 1.0514501333236694, -0.8840650916099548, 1.7917441129684448, -1.2037415504455566, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49806123971939087, -0.01601404882967472, 1.0508382320404053, 1.3698426485061646, 2.172985315322876, 1.4454251527786255, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.44264113903045654, 0.25886258482933044, 0.9556165337562561, -1.1712430715560913, 1.5572054386138916, -1.3928451538085938, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3281242549419403, -0.1486072689294815, 0.9202712774276733, 0.2860836386680603, 1.8634440898895264, 1.0087310075759888, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.012299057096242905, 0.01386282965540886, 0.02218058332800865, 0.0870390310883522, 0.1687728315591812, 0.06883210688829422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04754219576716423, 0.06275658309459686, 0.029574306681752205, 0.2758445739746094, 0.1638169139623642, 0.1368688941001892, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1535]}, "action": {"min": [1.0502463579177856, -0.7799234986305237, -0.19666893780231476, 1.1323827505111694, -0.0599028654396534, -0.7675381302833557, 0.34303975105285645, 0.0, -0.09538371115922928, -0.2742379903793335, -0.32107073068618774, 0.0, -0.031965818256139755, -0.055691786110401154, 0.0, 0.0, -0.1745329201221466, -0.024149484932422638, 0.0, 0.0, -0.17299436032772064, -0.0707441046833992, 0.0, 0.0, 0.0, -0.1506999284029007, -0.19959861040115356, 0.0, 0.0, 0.939721405506134, -0.9485898613929749, -0.23338915407657623, 1.0956816673278809, -1.197577953338623, -0.9127286672592163, -0.14433062076568604, 0.0, -0.3130086362361908, 0.0, -0.09145266562700272, -0.12487033009529114, 0.0, -0.12520045042037964, 0.0, 0.0, 0.0, -0.031531818211078644, 0.0, 0.0, 0.0, -0.06480009108781815, 0.0, 0.0, 0.0, -0.053842876106500626, -0.11590058356523514, 0.0, 0.0, 0.5626833438873291, -1.1069231033325195, 0.5442397594451904, 0.0, -0.02960781566798687, 0.0, -0.8727390766143799], "max": [1.2753615379333496, -0.636247456073761, -0.0006671352894045413, 1.5682179927825928, -0.0002858260995708406, 0.07359769195318222, 0.8620144724845886, 1.052310824394226, 0.0, 0.0, 0.0, 0.4822549521923065, 0.8392562866210938, 0.13394635915756226, 0.24439381062984467, 0.2885321080684662, 0.49900612235069275, 0.16347545385360718, 0.21731120347976685, 0.05010339990258217, 0.4234218895435333, 0.1797739863395691, 0.5909023880958557, 0.36394667625427246, 0.037026453763246536, 0.37026453018188477, 0.08409195393323898, 0.9296306371688843, 0.7970563769340515, 1.3744869232177734, -0.3668283522129059, 0.0, 1.7442299127578735, 0.20093537867069244, -0.1255083829164505, 0.5976518988609314, 1.5009756088256836, 0.0, 0.8111371994018555, 0.3490658402442932, 0.43436190485954285, 1.0532695055007935, 0.2685531973838806, 0.5539398789405823, 0.8447434902191162, 1.5707963705062866, 0.2911794185638428, 1.7340980768203735, 1.37785005569458, 1.5707963705062866, 0.2530216574668884, 1.7453292608261108, 1.3962633609771729, 0.08368057757616043, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5627791881561279, -1.106767177581787, 0.700257420539856, 0.021747149527072906, 0.01875501126050949, 0.11289162933826447, -0.5814489126205444], "mean": [1.1566932201385498, -0.7365104556083679, -0.15025106072425842, 1.171318531036377, -0.03374649956822395, -0.1315508782863617, 0.5128785371780396, 0.9956644773483276, -0.0108192702755332, -0.26583507657051086, -0.2993621230125427, 0.47000232338905334, 0.67524653673172, 0.02397221140563488, 0.13378408551216125, 0.27633678913116455, 0.38187459111213684, 0.060185275971889496, 0.053386833518743515, 0.025216830894351006, 0.05441434681415558, 0.030763117596507072, 0.05079968646168709, 0.3264314532279968, 0.007066361140459776, -0.01932598277926445, -0.08010918647050858, 0.05383656173944473, 0.0460849292576313, 1.0369036197662354, -0.7277315855026245, -0.22080515325069427, 1.5177295207977295, -1.0400011539459229, -0.5865882039070129, 0.09709101170301437, 1.3721634149551392, -0.24461838603019714, 0.5849312543869019, 0.047393206506967545, 0.13604657351970673, 0.8596867918968201, 0.19954347610473633, 0.08193159103393555, 0.5264469981193542, 1.4751380681991577, 0.19198250770568848, 1.5507749319076538, 1.1526157855987549, 1.4669907093048096, 0.16644133627414703, 1.6296019554138184, 1.2232216596603394, 0.07576117664575577, 1.4640175104141235, 0.28585317730903625, 1.6398446559906006, 1.311849594116211, 0.5626841187477112, -1.106848120689392, 0.6849822402000427, 0.010989396832883358, 0.0032096565701067448, 0.09285818785429001, -0.8584687113761902], "std": [0.027582421898841858, 0.01595461182296276, 0.019564738497138023, 0.05495968833565712, 0.004572219215333462, 0.17857027053833008, 0.11993733048439026, 0.15712858736515045, 0.01632523164153099, 0.0429290309548378, 0.04891729727387428, 0.07588682323694229, 0.20330998301506042, 0.04784965142607689, 0.09782996028661728, 0.04546568542718887, 0.13183188438415527, 0.040740370750427246, 0.07284024357795715, 0.013984926976263523, 0.12619835138320923, 0.0481116846203804, 0.07085709273815155, 0.05362873151898384, 0.009243338368833065, 0.12884780764579773, 0.06743024289608002, 0.0863366648554802, 0.07403168827295303, 0.07386840879917145, 0.19145019352436066, 0.036320168524980545, 0.1892738938331604, 0.2874448895454407, 0.13908864557743073, 0.14677539467811584, 0.2100733369588852, 0.05534945800900459, 0.1822330504655838, 0.08102904260158539, 0.12750837206840515, 0.19592924416065216, 0.07146545499563217, 0.10588020831346512, 0.21395279467105865, 0.35639941692352295, 0.05523839220404625, 0.41636282205581665, 0.31930702924728394, 0.37853890657424927, 0.054882463067770004, 0.42995449900627136, 0.33784040808677673, 0.02036115527153015, 0.39380499720573425, 0.08881013095378876, 0.39981546998023987, 0.31986111402511597, 8.48294894240098e-06, 1.761874409567099e-05, 0.019565997645258904, 0.003770573064684868, 0.008893685415387154, 0.020469941198825836, 0.053647976368665695], "count": [1535]}, "observation.state.tcp_pose": {"min": [0.3624963164329529, 0.1890077441930771, 0.9330564141273499, -1.2780603170394897, 1.2159276008605957, -1.5652230978012085, 0.26909682154655457, -0.23373930156230927, 0.8870028257369995, -0.10973837226629257, 1.2190511226654053, 0.7167583703994751], "max": [0.48181459307670593, 0.2702970504760742, 1.0514501333236694, -0.8840650916099548, 1.7917441129684448, -1.2037415504455566, 0.49806123971939087, -0.01601404882967472, 1.0508382320404053, 1.3698426485061646, 2.172985315322876, 1.4454251527786255], "mean": [0.44264113903045654, 0.25886258482933044, 0.9556165337562561, -1.1712430715560913, 1.5572054386138916, -1.3928451538085938, 0.3281242549419403, -0.1486072689294815, 0.9202712774276733, 0.2860836386680603, 1.8634440898895264, 1.0087310075759888], "std": [0.012299057096242905, 0.01386282965540886, 0.02218058332800865, 0.0870390310883522, 0.1687728315591812, 0.06883210688829422, 0.04754219576716423, 0.06275658309459686, 0.029574306681752205, 0.2758445739746094, 0.1638169139623642, 0.1368688941001892], "count": [1535]}, "action.tcp_pose": {"min": [0.36201393604278564, 0.18657788634300232, 0.9327549934387207, -1.2783539295196533, 1.1260658502578735, -1.5683796405792236, 0.2690376937389374, -0.23230089247226715, 0.886441171169281, -0.11032217741012573, 1.2178369760513306, 0.7178347706794739], "max": [0.4776058495044708, 0.2701822817325592, 1.051491379737854, -0.7650501728057861, 1.7914057970046997, -1.2268096208572388, 0.497889906167984, -0.016215838491916656, 1.051806092262268, 1.3704054355621338, 2.177173376083374, 1.4451287984848022], "mean": [0.44263318181037903, 0.2588758170604706, 0.9559435248374939, -1.1678352355957031, 1.553611159324646, -1.3946703672409058, 0.32816699147224426, -0.14861632883548737, 0.9203395247459412, 0.28477171063423157, 1.86348557472229, 1.0089142322540283], "std": [0.01222534291446209, 0.013814586214721203, 0.022775059565901756, 0.09569431841373444, 0.1751180738210678, 0.06516775488853455, 0.04767253249883652, 0.06266602128744125, 0.029755329713225365, 0.27351799607276917, 0.16402530670166016, 0.13705818355083466], "count": [1535]}, "subtask_index": {"min": [44], "max": [64], "mean": [52.45081433224756], "std": [5.864931193427441], "count": [1535]}, "observation.tactile": {"min": [-0.02648075297474861, -3.138465035590343e-05, -7.00613745721057e-05, -0.0012273911852389574, -0.00024995123385451734, -0.0003998592437710613, -0.01220998540520668, -2.6416953915031627e-05, -5.567482367041521e-05, -0.0019010865362361073, -2.8682141419267282e-05, -0.0002522047143429518, -0.024149205535650253, -3.8715312257409096e-05, -8.517937385477126e-05, -0.003040642710402608, -6.482084427261725e-05, -0.0005406939890235662, -0.07164459675550461, -3.178759652655572e-05, -7.031956920400262e-05, -0.0007682730793021619, -0.00015771421021781862, -0.0008990370552055538, -0.0012575433356687427, -5.3004114306531847e-05, -0.00012051721569150686, -0.001257016439922154, -5.515725933946669e-05, -3.816677781287581e-05, -2.121962070465088, -3.544237188179977e-05, -7.819909660611302e-05, -0.11117255687713623, -0.0037598193157464266, -0.05034264177083969, -2.956352472305298, 0.0, 0.0, -0.2782069146633148, -0.02664150856435299, -0.06959255784749985, -0.005787490401417017, -4.9998940085060894e-05, -0.00011183629976585507, -0.001167433219961822, -4.373031697468832e-05, -0.00011158904817420989, -0.012487170286476612, -4.025590169476345e-05, -8.777757466305047e-05, -0.0023098394740372896, -0.00015314816846512258, -0.0002498459361959249, -0.007703806739300489, -4.138001168030314e-05, -9.088375372812152e-05, -0.0015263016102835536, -7.753657700959593e-05, -0.0001694470556685701], "max": [0.0002457894152030349, 0.022037863731384277, 0.06681959331035614, 1.3332230537344003e-06, 8.44501773826778e-05, 5.259210411168169e-06, 0.007867101579904556, 0.03215127810835838, 0.09512543678283691, 1.0533893828323926e-06, 0.0002695490838959813, 5.55837650608737e-05, 0.004141558427363634, 0.04496563598513603, 0.12884671986103058, 1.5862586906223441e-06, 0.00016593562031630427, 7.180551619967446e-05, 0.00843774899840355, 0.02400120161473751, 0.05890965089201927, 1.2605510164576117e-06, 0.00020155354286544025, 0.00010304772877134383, 0.6991025805473328, 0.13285434246063232, 0.08059807121753693, 2.3472209704777924e-06, 0.00026363853248767555, 0.011181822046637535, 3.3608694076538086, 4.903913497924805, 4.7413859367370605, 1.446628630219493e-06, 0.010425231419503689, 0.07031528651714325, 3.9144792556762695, 7.4608564376831055, 13.883017539978027, 0.0, 0.007486915215849876, 0.08655247092247009, 0.008470089174807072, 0.017503995448350906, 0.05150848999619484, 2.042218284259434e-06, 0.0002843672991730273, 5.576682451646775e-05, 0.011806569993495941, 0.04920116439461708, 0.1404450535774231, 1.6104302176245255e-06, 0.0001505431137047708, 0.00016110172145999968, 0.006215010769665241, 0.024215934798121452, 0.06716793775558472, 1.6729663911974058e-06, 0.0001738321443554014, 0.00012360321125015616], "mean": [-0.0011718128807842731, 0.0016093984013423324, 0.004773881286382675, -8.829112630337477e-05, -1.545717714179773e-05, -1.619533031771425e-05, -0.0008571990765631199, 0.003432183526456356, 0.010062742047011852, -0.00018120008462574333, 1.8636872482602485e-05, -2.1973170078126714e-05, -0.005029203370213509, 0.011546563357114792, 0.03334185108542442, -0.0006747053121216595, 4.678349068854004e-05, -0.0001158239392680116, -0.0006938069709576666, 0.0013502012006938457, 0.004056818317621946, -6.950554234208539e-05, -2.610525143609266e-06, -1.0073609701066744e-05, 0.0013492840807884932, 0.0005233112024143338, 0.0012414691736921668, -2.3004598915576935e-05, 1.785853100955137e-06, 2.2657884983345866e-05, 0.3886341154575348, 0.6004294157028198, 0.6459956169128418, -0.014395792968571186, 0.001064239302650094, 0.00795217975974083, -0.050316061824560165, 1.0029168128967285, 2.2745940685272217, -0.04958917945623398, -0.0023104434367269278, -0.0004901686916127801, -0.0003548708336893469, 0.0035674008540809155, 0.010304741561412811, -0.0002207520155934617, 2.190777740906924e-05, -1.5493673345190473e-05, -0.0023357714526355267, 0.01049122679978609, 0.030056020244956017, -0.0005078843096271157, -1.866327329480555e-05, -4.037763937958516e-05, -0.0014595133252441883, 0.006919206120073795, 0.019661126658320427, -0.0004370602546259761, 7.977799214131664e-06, -3.4844077163143083e-05], "std": [0.002913528820499778, 0.003247922984883189, 0.009654690511524677, 0.0001803199265850708, 3.855811883113347e-05, 4.400587567943148e-05, 0.00202858611010015, 0.005057652946561575, 0.01470585260540247, 0.00027550564846023917, 3.249321162002161e-05, 3.9629234379390255e-05, 0.004733487963676453, 0.008955263532698154, 0.02578163333237171, 0.0005486562149599195, 3.789188849623315e-05, 0.00010609222226776183, 0.0024231718853116035, 0.002445769729092717, 0.007257315795868635, 0.00012681508087553084, 1.3235942788014654e-05, 3.39980106218718e-05, 0.02124856226146221, 0.0038276268169283867, 0.004352301824837923, 7.534832548117265e-05, 1.3503365153155755e-05, 0.0003444978210609406, 0.8289337754249573, 1.1731665134429932, 1.174419641494751, 0.025726301595568657, 0.0020910121966153383, 0.01763959601521492, 0.7475672960281372, 1.5323854684829712, 3.6698949337005615, 0.07923721522092819, 0.005152025260031223, 0.016409559175372124, 0.0008765262900851667, 0.003563776146620512, 0.010165355168282986, 0.00022934682783670723, 3.16490295517724e-05, 1.840945151343476e-05, 0.002261417917907238, 0.007618220988661051, 0.021823571994900703, 0.000350820308085531, 2.9897688364144415e-05, 4.362351683084853e-05, 0.0014000901719555259, 0.005359819624572992, 0.015215800143778324, 0.00033967438503168523, 3.083000410697423e-05, 2.8387419661157764e-05], "count": [1535]}, "timestamp": {"min": [0.0], "max": [51.13333333333333], "mean": [25.566666666666663], "std": [14.77054125240131], "count": [1535]}, "frame_index": {"min": [0], "max": [1534], "mean": [767.0], "std": [443.1162375720393], "count": [1535]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1535]}, "index": {"min": [1792], "max": [3326], "mean": [2559.0], "std": [443.1162375720393], "count": [1535]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1535]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5475826859474182]], [[0.5471506118774414]], [[0.5491620302200317]]], "std": [[[0.2998913824558258]], [[0.299835205078125]], [[0.30118444561958313]]], "count": [1535]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25493213534355164]], [[0.25585058331489563]], [[0.2551087439060211]]], "std": [[[0.158784419298172]], [[0.16087403893470764]], [[0.16008450090885162]]], "count": [1535]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.19876115024089813]], [[0.20050619542598724]], [[0.1994355320930481]]], "std": [[[0.1358102709054947]], [[0.1373579204082489]], [[0.14167052507400513]]], "count": [1535]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5495244860649109]], [[0.549277663230896]], [[0.5511503219604492]]], "std": [[[0.29892459511756897]], [[0.29891306161880493]], [[0.3006710708141327]]], "count": [1535]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5333333611488342]], [[0.5333333611488342]], [[0.5333333611488342]]], "mean": [[[0.0006032536621205509]], [[0.0006032536621205509]], [[0.0006032536621205509]]], "std": [[[0.013638533651828766]], [[0.013638533651828766]], [[0.013638533651828766]]], "count": [1535]}, "observation.images.tactile_raw": {"min": [[[0.0235294122248888]], [[0.0235294122248888]], [[0.0235294122248888]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4710399806499481]], [[0.4710399806499481]], [[0.4710399806499481]]], "std": [[[0.23727615177631378]], [[0.23727615177631378]], [[0.23727615177631378]]], "count": [1535]}}}
+{"episode_index": 2, "stats": {"observation.state": {"min": [1.050931692123413, -0.8060316443443298, -0.15470638871192932, 1.116565465927124, -0.07333099097013474, -0.7671964168548584, 0.45782533288002014, 0.006272744387388229, -0.03149526193737984, -0.2771086096763611, -0.3048972189426422, 0.003053495427593589, -0.13747628033161163, 6.868840046081459e-06, 0.003383593400940299, 0.0008416165946982801, -0.17663554847240448, -0.0006167160463519394, 0.003440678119659424, 0.0008411731687374413, -0.1660146564245224, -0.03757280856370926, 0.0030545589979737997, 0.0008296442101709545, 0.005177275277674198, -0.14361894130706787, -0.03627092391252518, 0.0035346371587365866, 0.0008456074283458292, 0.933131992816925, -0.798245906829834, -0.23040859401226044, 1.0386303663253784, -1.3534842729568481, -0.8619333505630493, -0.26659470796585083, 0.00706934928894043, -0.2977985441684723, 0.0032840734347701073, -0.20786598324775696, 0.003493508091196418, 0.006901915185153484, -0.08895950019359589, 0.003130081109702587, 0.00077111239079386, 0.0037035082932561636, -0.019891055300831795, 0.0024666939862072468, 0.0008345218957401812, -0.0007084679091349244, -0.034492649137973785, 0.0035459832288324833, 0.0008766470709815621, 0.005473761819303036, -0.05335313826799393, -0.03736772760748863, 0.003475070698186755, 0.0008531456696800888, 0.5622998476028442, -1.1070547103881836, 0.5458095669746399, -0.017257284373044968, -0.026748789474368095, 0.0012463594321161509, -0.8729309439659119], "max": [1.1969174146652222, -0.6202470064163208, -0.0013956829207018018, 1.567600965499878, -0.0009810286574065685, -0.040956687182188034, 0.6981742978096008, 1.0186952352523804, 0.015790628269314766, 0.0003002051671501249, -0.0038450874853879213, 0.4796200394630432, 0.8346688151359558, 0.11285017430782318, 0.20506781339645386, 0.28127601742744446, 0.4497266709804535, 0.13796594738960266, 0.15288786590099335, 0.03155885264277458, 0.22543565928936005, 0.1379794180393219, 0.2940467894077301, 0.3414023816585541, 0.005844102241098881, 0.2519195079803467, 0.03862496465444565, 0.24236713349819183, 0.21140897274017334, 1.312771201133728, -0.2684799134731293, 7.070692390698241e-06, 1.6115505695343018, 0.25103965401649475, -0.15354320406913757, 0.6638789772987366, 1.4992280006408691, -0.00013677265087608248, 0.7948952317237854, 0.31624457240104675, 0.33692020177841187, 1.0637340545654297, 0.2503308355808258, 0.5070759654045105, 0.9016658663749695, 1.4688339233398438, 0.2748449146747589, 1.6556682586669922, 1.30826997756958, 1.468591332435608, 0.2360084354877472, 1.6548473834991455, 1.3081893920898438, 0.06976103037595749, 1.4687448740005493, 0.31462839245796204, 1.6546459197998047, 1.3081649541854858, 0.5638338327407837, -1.1057125329971313, 0.6891408562660217, 0.012080098502337933, 0.02214684709906578, 0.1335522085428238, -0.5994029641151428], "mean": [1.1400936841964722, -0.7964522242546082, -0.1305474042892456, 1.2227710485458374, -0.0652301087975502, -0.2131836712360382, 0.5501112937927246, 0.9860072135925293, 0.00805705226957798, -0.26829954981803894, -0.29258155822753906, 0.46959081292152405, 0.6417142748832703, 0.07698268443346024, 0.08738101273775101, 0.27427250146865845, 0.3482925593852997, 0.11060433089733124, 0.1327466070652008, 0.020859509706497192, 0.18076647818088531, 0.0908118262887001, 0.1462993323802948, 0.3325444459915161, 0.005437007639557123, 0.1715233027935028, -0.0027594887651503086, 0.07778718322515488, 0.06783796846866608, 1.0628654956817627, -0.5926778316497803, -0.2218456119298935, 1.4204765558242798, -1.1125215291976929, -0.4681658446788788, 0.04408979415893555, 1.3475496768951416, -0.22934143245220184, 0.5741111040115356, -0.020357515662908554, 0.05441660434007645, 0.886417031288147, 0.18351413309574127, 0.07119792699813843, 0.5519145727157593, 1.387952208518982, 0.18589948117733002, 1.5435774326324463, 1.165047526359558, 1.378127932548523, 0.15675555169582367, 1.5486479997634888, 1.1068215370178223, 0.06443106383085251, 1.3708006143569946, 0.27887678146362305, 1.5633431673049927, 1.2359211444854736, 0.5626844763755798, -1.1067781448364258, 0.6630197763442993, -0.0004001089255325496, 0.002941602375358343, 0.11819718778133392, -0.8618007302284241], "std": [0.014993714168667793, 0.0278032086789608, 0.015821604058146477, 0.04622529819607735, 0.008273444138467312, 0.1546885371208191, 0.08697184175252914, 0.12937462329864502, 0.0059342337772250175, 0.03565703704953194, 0.03886245936155319, 0.06193632632493973, 0.2363981008529663, 0.021648531779646873, 0.08343575894832611, 0.03671048954129219, 0.13682706654071808, 0.02368205413222313, 0.03583969548344612, 0.005751242861151695, 0.06391021609306335, 0.028971971943974495, 0.08942993730306625, 0.04439418762922287, 0.00010037546599050984, 0.07385760545730591, 0.01720609702169895, 0.06518405675888062, 0.056931331753730774, 0.06674303114414215, 0.12800277769565582, 0.030927231535315514, 0.12723983824253082, 0.3187686800956726, 0.17563867568969727, 0.17836858332157135, 0.169504314661026, 0.04469389468431473, 0.16728124022483826, 0.09742104262113571, 0.08407337963581085, 0.19173651933670044, 0.06306537240743637, 0.08061127364635468, 0.25586575269699097, 0.30773329734802246, 0.04741420969367027, 0.4023158848285675, 0.31107819080352783, 0.3345748782157898, 0.0459960512816906, 0.39557844400405884, 0.2964487671852112, 0.015302825719118118, 0.3566058576107025, 0.07453016936779022, 0.3535577356815338, 0.2787913978099823, 8.766259270487353e-05, 7.919446215964854e-05, 0.017476549372076988, 0.009787136688828468, 0.008900879882276058, 0.02255883812904358, 0.04713591933250427], "count": [1563]}, "observation.state.joint_torque": {"min": [-45.580501556396484, -1.2960000038146973, -20.384000778198242, -6.122000217437744, -0.30079999566078186, -0.5968000292778015, 1.0407999753952026, -0.7819458842277527, -0.47884631156921387, -0.24853791296482086, -0.2659355700016022, -0.12617947161197662, -0.37515053153038025, -0.2532985508441925, -0.08301279693841934, -0.0321076326072216, -0.2907176613807678, -0.26193371415138245, -0.08965382725000381, -0.032821137458086014, -0.3857046067714691, -0.44615086913108826, -0.0879935771226883, -0.04780469834804535, -0.001759204315021634, -0.7071251273155212, -0.6677870750427246, -0.20753200352191925, -0.038529157638549805, -1.3589999675750732, -6.923999786376953, -10.3149995803833, -9.729999542236328, -2.0216000080108643, -6.5208001136779785, -3.176800012588501, -1.7727502584457397, -0.7985017895698547, -0.6387424468994141, -1.4328210353851318, -0.11787818372249603, -0.5401783585548401, -0.8884638547897339, -0.3337114453315735, -0.21333740651607513, -0.49892139434814453, -0.38474515080451965, -0.36691659688949585, -0.04780469834804535, -0.6505167484283447, -0.7877201437950134, -0.09629485011100769, -0.05636673793196678, -0.1587682068347931, -1.317344307899475, -0.5737596154212952, -0.08633331209421158, -0.057793740183115005, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-13.339500427246094, 13.927499771118164, -4.71999979019165, 1.1130000352859497, 1.8624000549316406, 1.2832000255584717, 3.613600015640259, 0.6736960411071777, 0.5208727717399597, 0.22119873762130737, 0.43245595693588257, 0.10293588042259216, 0.5536108613014221, 0.2273930162191391, 0.11123716086149216, 0.016410568729043007, 0.25233909487724304, 0.1631089150905609, 0.1062563955783844, 0.02497260272502899, 0.45574551820755005, 0.5747190713882446, 0.151083305478096, 0.02354559674859047, 0.002638806588947773, 0.428880512714386, 0.3530828654766083, 0.15440380573272705, 0.03424813970923424, 47.11050033569336, 13.739999771118164, 19.402000427246094, 4.041999816894531, 0.0272000003606081, 2.447200059890747, 4.872000217437744, 2.210843801498413, 4.010337829589844, 1.913741946220398, 1.9025577306747437, 0.16934612393379211, 2.1463215351104736, 1.3777905702590942, 1.0575830936431885, 0.21333740651607513, 0.4662996232509613, 0.27632567286491394, 0.13116022944450378, 0.08205283433198929, 0.8951801657676697, 0.23698768019676208, 0.22247432172298431, 0.06064775213599205, 0.12490351498126984, 1.072680950164795, 0.32525837421417236, 0.1062563955783844, 0.04780469834804535, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.717378616333008, 5.852510452270508, -12.48332691192627, -2.385038375854492, 0.2477114349603653, 0.03693869709968567, 2.124415874481201, 0.013012309558689594, 0.0011635287664830685, -0.0001884328230516985, -0.014283372089266777, 6.054598270566203e-05, 0.03555474430322647, -0.016204670071601868, 0.003938726615160704, 0.0005222306353971362, 0.03269302845001221, -0.0246097631752491, 0.004317945800721645, -0.0015110005624592304, 0.03750448301434517, 0.07864172756671906, 0.017336534336209297, 0.001265865401364863, -3.6861103581031784e-05, 0.03700721263885498, -0.007304981350898743, 0.012127409689128399, 0.003920838236808777, 21.281436920166016, 1.2069621086120605, 10.036524772644043, -5.6343607902526855, -0.6458383202552795, 0.8971462845802307, -0.9646340608596802, 0.06031206622719765, 0.6079285740852356, 0.2710518538951874, 0.1681159883737564, -0.001981049310415983, 0.5826783776283264, 0.01778911054134369, 0.2898201048374176, 0.05356621369719505, 0.008915698155760765, -0.026712749153375626, 0.00037283895653672516, 0.0013900314224883914, 0.004549321718513966, -0.02552369050681591, 0.0002698040334507823, 0.0002469636674504727, 0.0004724451864603907, 0.020613452419638634, -0.025577090680599213, 0.0013511494034901261, 0.0026271340902894735, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.1878329515457153, 1.1854252815246582, 0.6491714715957642, 0.6686966419219971, 0.2892856299877167, 0.3025819957256317, 0.25000739097595215, 0.10398205369710922, 0.07364317774772644, 0.03633561730384827, 0.051294125616550446, 0.011460736393928528, 0.06472710520029068, 0.04154041409492493, 0.014087044633924961, 0.003763797925785184, 0.056517064571380615, 0.04037866368889809, 0.013295697048306465, 0.005253246054053307, 0.11912775784730911, 0.11691438406705856, 0.02714305929839611, 0.0060646613128483295, 0.00035909764119423926, 0.11847003549337387, 0.09825366735458374, 0.039025064557790756, 0.010298088192939758, 4.218763828277588, 2.666274070739746, 3.0201377868652344, 1.836977481842041, 0.2703062891960144, 1.127943754196167, 1.0413084030151367, 0.6156788468360901, 0.9383950233459473, 0.4356834888458252, 0.4347609579563141, 0.026666363701224327, 0.8003763556480408, 0.3020399510860443, 0.4113457202911377, 0.10116269439458847, 0.050413843244314194, 0.0723259225487709, 0.018195398151874542, 0.008715495467185974, 0.05702964588999748, 0.06983549892902374, 0.010422289371490479, 0.010811368003487587, 0.016236159950494766, 0.07688882946968079, 0.08972925692796707, 0.014065832830965519, 0.004985363222658634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1563]}, "observation.state.tcp": {"min": [0.36275365948677063, 0.1906583309173584, 0.9425749778747559, -1.2193502187728882, 1.2104641199111938, -1.461142897605896, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.28460022807121277, -0.24374595284461975, 0.8900994658470154, -0.3468073308467865, 1.21953547000885, 0.6990150809288025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4607882797718048, 0.29439398646354675, 1.050869345664978, -0.8986856937408447, 1.602809190750122, -1.1637747287750244, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4844810962677002, 0.030552439391613007, 1.0506808757781982, 1.402805209159851, 2.1760518550872803, 1.4437716007232666, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.43063119053840637, 0.27913329005241394, 0.9696424603462219, -1.1261335611343384, 1.4665544033050537, -1.3487974405288696, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3418309688568115, -0.1063593253493309, 0.9252949357032776, 0.11129569262266159, 1.9204034805297852, 1.003275752067566, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.008534152992069721, 0.017545444890856743, 0.017940059304237366, 0.08080662041902542, 0.1235218346118927, 0.06992935389280319, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03445667773485184, 0.06270157545804977, 0.027746126055717468, 0.3418836295604706, 0.17950500547885895, 0.15377581119537354, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1563]}, "action": {"min": [1.050357699394226, -0.806023359298706, -0.1546851545572281, 1.1165825128555298, -0.07334458082914352, -0.7656014561653137, 0.4576931595802307, 0.0, -0.04111916571855545, -0.2743673622608185, -0.3117709755897522, 0.0, -0.15678824484348297, 0.0, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.1745329201221466, -0.04946000128984451, 0.0, 0.0, 0.0, -0.1515628844499588, -0.17486315965652466, 0.0, 0.0, 0.9330053329467773, -0.7985546588897705, -0.23029237985610962, 1.0386215448379517, -1.3534711599349976, -0.8641084432601929, -0.2669167220592499, 0.0, -0.29421743750572205, 0.0, -0.2111988663673401, -0.1745329201221466, 0.0, -0.08800143748521805, 0.0, 0.0, 0.0, -0.023382551968097687, 0.0, 0.0, 0.0, -0.061444349586963654, 0.0, 0.0, 0.0, -0.05643131956458092, -0.1286521553993225, 0.0, 0.0, 0.5626834034919739, -1.1069231033325195, 0.5442397594451904, -0.017897704616189003, -0.02914843149483204, 0.0, -0.8726646304130554], "max": [1.1969068050384521, -0.6195268034934998, -0.0007889281841926277, 1.5677802562713623, -0.0004029284755233675, -0.04080834612250328, 0.8248302340507507, 1.024699091911316, 0.014775209128856659, 0.0, 0.0, 0.4822549521923065, 0.8447438478469849, 0.11323779076337814, 0.21418066322803497, 0.2849177122116089, 0.4580347537994385, 0.13490527868270874, 0.15896601974964142, 0.03676743432879448, 0.22679097950458527, 0.1374937891960144, 0.29979708790779114, 0.34644001722335815, 0.026288580149412155, 0.2547023892402649, 0.03999000042676926, 0.24817891418933868, 0.2128397822380066, 1.3129470348358154, -0.2684507369995117, 7.374520301702155e-18, 1.6118453741073608, 0.2510014474391937, -0.15313772857189178, 0.6692246794700623, 1.5039286613464355, 0.0, 0.793879508972168, 0.3490658402442932, 0.34529492259025574, 1.095741629600525, 0.2503371834754944, 0.5358200073242188, 0.8936398029327393, 1.5707963705062866, 0.2761272192001343, 1.7453292608261108, 1.3962633609771729, 1.5707963705062866, 0.24113339185714722, 1.7453292608261108, 1.3752617835998535, 0.08481379598379135, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5627791881561279, -1.106767177581787, 0.6900665163993835, 0.012950856238603592, 0.02263922058045864, 0.13420149683952332, -0.5994352698326111], "mean": [1.1401076316833496, -0.7964794039726257, -0.1305627077817917, 1.2226641178131104, -0.06523068249225616, -0.21339355409145355, 0.5571689605712891, 0.9882810711860657, 0.007771234959363937, -0.2667805552482605, -0.2990376651287079, 0.4714556634426117, 0.643677830696106, 0.07652430981397629, 0.09104198217391968, 0.2771613895893097, 0.3529357314109802, 0.10882452875375748, 0.13659343123435974, 0.021819517016410828, 0.18482372164726257, 0.09311314672231674, 0.1494339108467102, 0.333820104598999, 0.02086673304438591, 0.17626744508743286, -0.005578772164881229, 0.08132166415452957, 0.06968458741903305, 1.0629559755325317, -0.5927102565765381, -0.22182485461235046, 1.4204977750778198, -1.113141655921936, -0.4686111807823181, 0.04462442174553871, 1.3470547199249268, -0.22711044549942017, 0.5733281970024109, -0.020017754286527634, -0.01937440223991871, 0.8964170813560486, 0.1896442025899887, 0.07303019613027573, 0.5637155771255493, 1.4845185279846191, 0.185048907995224, 1.6265130043029785, 1.1852309703826904, 1.4758201837539673, 0.1551189422607422, 1.637084722518921, 1.1149791479110718, 0.07596645504236221, 1.470792293548584, 0.27824899554252625, 1.6481516361236572, 1.3184953927993774, 0.5627862811088562, -1.1067836284637451, 0.6630775928497314, -0.0003978774475399405, 0.002956847194582224, 0.11823651194572449, -0.8617134094238281], "std": [0.01486132014542818, 0.027865983545780182, 0.015792425721883774, 0.04622801020741463, 0.008272758685052395, 0.15492601692676544, 0.1006380170583725, 0.1467002034187317, 0.007460861932486296, 0.040379367768764496, 0.04565458744764328, 0.07135321199893951, 0.24363639950752258, 0.021757684648036957, 0.085271455347538, 0.04204492270946503, 0.1424833983182907, 0.025041483342647552, 0.03886498138308525, 0.006506975274533033, 0.06893181055784225, 0.031943026930093765, 0.09173175692558289, 0.0506000742316246, 0.005744032096117735, 0.07777483016252518, 0.0334002822637558, 0.06698032468557358, 0.057418014854192734, 0.06687217950820923, 0.12789154052734375, 0.03104560077190399, 0.12737905979156494, 0.3164394199848175, 0.17612890899181366, 0.17885173857212067, 0.19001376628875732, 0.049929115921258926, 0.17266027629375458, 0.10127510130405426, 0.13739612698554993, 0.20080052316188812, 0.06448366492986679, 0.08213213086128235, 0.2640257775783539, 0.3370301127433777, 0.048342082649469376, 0.42253556847572327, 0.31861087679862976, 0.3620055913925171, 0.04929083585739136, 0.41631340980529785, 0.3015138506889343, 0.019735854119062424, 0.3813530504703522, 0.08581209927797318, 0.37972068786621094, 0.3037765324115753, 1.3317227057996206e-05, 2.128068808815442e-05, 0.01776450127363205, 0.009844510816037655, 0.008976769633591175, 0.022666098549962044, 0.04729994013905525], "count": [1563]}, "observation.state.tcp_pose": {"min": [0.36275365948677063, 0.1906583309173584, 0.9425749778747559, -1.2193502187728882, 1.2104641199111938, -1.461142897605896, 0.28460022807121277, -0.24374595284461975, 0.8900994658470154, -0.3468073308467865, 1.21953547000885, 0.6990150809288025], "max": [0.4607882797718048, 0.29439398646354675, 1.050869345664978, -0.8986856937408447, 1.602809190750122, -1.1637747287750244, 0.4844810962677002, 0.030552439391613007, 1.0506808757781982, 1.402805209159851, 2.1760518550872803, 1.4437716007232666], "mean": [0.43063119053840637, 0.27913329005241394, 0.9696424603462219, -1.1261335611343384, 1.4665544033050537, -1.3487974405288696, 0.3418309688568115, -0.1063593253493309, 0.9252949357032776, 0.11129569262266159, 1.9204034805297852, 1.003275752067566], "std": [0.008534152992069721, 0.017545444890856743, 0.017940059304237366, 0.08080662041902542, 0.1235218346118927, 0.06992935389280319, 0.03445667773485184, 0.06270157545804977, 0.027746126055717468, 0.3418836295604706, 0.17950500547885895, 0.15377581119537354], "count": [1563]}, "action.tcp_pose": {"min": [0.3621024489402771, 0.1884419322013855, 0.9426676034927368, -1.2197281122207642, 1.1392359733581543, -1.4640012979507446, 0.28429704904556274, -0.23972676694393158, 0.8902006149291992, -0.34758809208869934, 1.2178369760513306, 0.6960362195968628], "max": [0.45988330245018005, 0.29440972208976746, 1.0514825582504272, -0.8074613213539124, 1.6026523113250732, -1.2109901905059814, 0.4844766855239868, 0.030896706506609917, 1.051806092262268, 1.4042139053344727, 2.17574143409729, 1.4426769018173218], "mean": [0.43063950538635254, 0.27913299202919006, 0.9700382351875305, -1.1211202144622803, 1.4614287614822388, -1.3519781827926636, 0.34191399812698364, -0.10634557902812958, 0.9253317713737488, 0.11051280051469803, 1.920002818107605, 1.0036941766738892], "std": [0.008519771508872509, 0.01748340018093586, 0.018637504428625107, 0.0913596972823143, 0.13283324241638184, 0.06467044353485107, 0.03452214598655701, 0.06269651651382446, 0.027914829552173615, 0.33967891335487366, 0.17977575957775116, 0.15416736900806427], "count": [1563]}, "subtask_index": {"min": [64], "max": [95], "mean": [79.34293026231606], "std": [9.320969877077777], "count": [1563]}, "observation.tactile": {"min": [-0.026649242267012596, -3.565904262359254e-05, -8.00254347268492e-05, -0.0011961081763729453, -0.0002750862331595272, -0.0005351383588276803, -0.010716447606682777, -2.876100734283682e-05, -5.8700719819171354e-05, -0.0013978786300867796, -5.3465297241928056e-05, -0.00021090022346470505, -0.01700151152908802, -3.751944313989952e-05, -8.279610483441502e-05, -0.0018807336455211043, -2.9029381039435975e-05, -0.0003699033986777067, -0.6434586644172668, -3.2095158530864865e-05, -7.049046689644456e-05, -0.0021418158430606127, -0.0003302876721136272, -0.008410187438130379, -0.0025522077921777964, -5.545876774704084e-05, -0.00012572118430398405, -0.0011834398610517383, -7.012752030277625e-05, -5.511195195140317e-05, -2.670400857925415, -3.675771222333424e-05, -8.073437493294477e-05, -0.17760245501995087, -0.01663314923644066, -0.05479784309864044, -5.202160358428955, 0.0, 0.0, -0.31318241357803345, -0.02700967900454998, -0.09631110727787018, -0.003243727143853903, -4.951980008627288e-05, -0.00010968655988108367, -0.001387328957207501, -3.7013051041867584e-05, -6.772796041332185e-05, -0.015368557535111904, -3.758354432648048e-05, -8.301014895550907e-05, -0.0019211677135899663, -0.00016940773639362305, -0.0003003067977260798, -0.005967901088297367, -3.97403200622648e-05, -8.761124627199024e-05, -0.0011705938959494233, -5.9526737459236756e-05, -0.00013547932030633092], "max": [0.0002755099849309772, 0.023747092112898827, 0.06837866455316544, 1.5295404409698676e-06, 4.027318209409714e-05, 5.87297290621791e-06, 0.009656745009124279, 0.025329910218715668, 0.07312136888504028, 1.096372216125019e-06, 0.0002522190334275365, 0.00011084521247539669, 0.0014528734609484673, 0.028907418251037598, 0.08452237397432327, 1.5598509435221786e-06, 0.0001615123328519985, 6.207323622220429e-06, 0.00346630928106606, 0.06707951426506042, 0.16124501824378967, 1.2684503190030227e-06, 9.92826753645204e-05, 4.780027302331291e-05, 0.3432961106300354, 0.05328343063592911, 0.07101558148860931, 2.4416040105279535e-06, 0.00021569611271843314, 0.0057019516825675964, 5.750484943389893, 7.05562686920166, 7.8075480461120605, 1.4958400242903735e-06, 0.02980305440723896, 0.12048811465501785, 10.52392864227295, 16.14767074584961, 17.280517578125, 0.0, 0.011613626033067703, 0.1869836300611496, 0.024383097887039185, 0.02280711941421032, 0.07043550908565521, 2.0070624486834276e-06, 0.00030188795062713325, 0.00033452711068093777, 0.01728316955268383, 0.040753815323114395, 0.11520872265100479, 1.5067687400005525e-06, 0.0003498253645375371, 0.0002500238479115069, 0.0027051952201873064, 0.0179778803139925, 0.050895482301712036, 1.6284468529192964e-06, 0.0001416204177075997, 9.63346246862784e-06], "mean": [-0.0007200966938398778, 0.0011214150581508875, 0.003325723111629486, -6.158582982607186e-05, -1.3797009160043672e-05, -8.707982487976551e-06, -0.0011335009476169944, 0.003274620044976473, 0.009541882202029228, -0.00017500876856502146, 7.434559393004747e-06, -2.3122698621591553e-05, -0.00109342101495713, 0.0026098694652318954, 0.007623684126883745, -0.0001459578488720581, 1.0955456673400477e-05, -2.446285361656919e-05, -0.01156548596918583, 0.002153015462681651, 0.005505445413291454, -8.381647057831287e-05, -5.847777515555208e-07, -0.00015029592032078654, 0.006079748272895813, 0.0016122055239975452, 0.0033996000420302153, -6.183970253914595e-05, 5.61737033422105e-06, 9.973623673431575e-05, 1.018868088722229, 1.3916341066360474, 1.9226828813552856, -0.03984631225466728, 0.003822420258074999, 0.02160426415503025, 0.09929466992616653, 2.78358793258667, 4.182353973388672, -0.08719640225172043, -0.00286843697540462, 0.00357842561788857, 0.00023664685431867838, 0.004718406591564417, 0.013602035120129585, -0.00029701567837037146, 3.472413300187327e-05, -9.11841016204562e-06, -0.0032660497818142176, 0.010429438203573227, 0.02978302724659443, -0.000528827600646764, -4.593926860252395e-06, -5.768905975855887e-05, -0.0007499802741222084, 0.002336402889341116, 0.006745205260813236, -0.0001362116017844528, 5.796629238830064e-07, -1.6056490494520403e-05], "std": [0.0026600961573421955, 0.0029934814665466547, 0.008795205503702164, 0.0001633624779060483, 3.6556219129124656e-05, 3.9508799090981483e-05, 0.0018673382000997663, 0.004177610389888287, 0.012195146642625332, 0.0002328751579625532, 2.4367302103200927e-05, 3.605979145504534e-05, 0.0025008516386151314, 0.004754925146698952, 0.013834658078849316, 0.00027602477348409593, 2.5083174477913417e-05, 5.471600525197573e-05, 0.05229172855615616, 0.005913619417697191, 0.014810309745371342, 0.00020371719438116997, 2.7002726710634306e-05, 0.0006869804346933961, 0.031584858894348145, 0.005259142257273197, 0.0087385643273592, 0.00014863604155834764, 2.1284065951476805e-05, 0.0005240488098934293, 1.807111144065857, 1.8443344831466675, 2.446369171142578, 0.0519971065223217, 0.009728411212563515, 0.0385235995054245, 1.9782973527908325, 3.542193651199341, 5.238063335418701, 0.10667929798364639, 0.007061637472361326, 0.036192405968904495, 0.0015907693887129426, 0.0042113675735890865, 0.012029849924147129, 0.00026895961491391063, 4.1870498534990475e-05, 2.2610431187786162e-05, 0.0028770058415830135, 0.006794004235416651, 0.01948551833629608, 0.00034202495589852333, 4.835269646719098e-05, 5.260229590930976e-05, 0.0011328337714076042, 0.002699397737160325, 0.0076871104538440704, 0.00017132816719822586, 1.4270793144532945e-05, 2.359000063734129e-05], "count": [1563]}, "timestamp": {"min": [0.0], "max": [52.06666666666667], "mean": [26.03333333333333], "std": [15.039971434173031], "count": [1563]}, "frame_index": {"min": [0], "max": [1562], "mean": [781.0], "std": [451.1991430251909], "count": [1563]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1563]}, "index": {"min": [3327], "max": [4889], "mean": [4108.0], "std": [451.1991430251909], "count": [1563]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1563]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5474512577056885]], [[0.5469562411308289]], [[0.5490862727165222]]], "std": [[[0.3031098246574402]], [[0.3031246066093445]], [[0.3044036328792572]]], "count": [1563]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25540220737457275]], [[0.25663867592811584]], [[0.25625738501548767]]], "std": [[[0.1580747663974762]], [[0.16042304039001465]], [[0.15938688814640045]]], "count": [1563]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.19439060986042023]], [[0.1956365704536438]], [[0.19658035039901733]]], "std": [[[0.13466641306877136]], [[0.13534386456012726]], [[0.13835783302783966]]], "count": [1563]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.547724723815918]], [[0.5474697947502136]], [[0.5494871139526367]]], "std": [[[0.30203884840011597]], [[0.3021218180656433]], [[0.3039281368255615]]], "count": [1563]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5921568870544434]], [[0.5921568870544434]], [[0.5921568870544434]]], "mean": [[[0.0014923086855560541]], [[0.0014923086855560541]], [[0.0014923086855560541]]], "std": [[[0.02302640490233898]], [[0.02302640490233898]], [[0.02302640490233898]]], "count": [1563]}, "observation.images.tactile_raw": {"min": [[[0.0235294122248888]], [[0.0235294122248888]], [[0.0235294122248888]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4704863727092743]], [[0.4704863727092743]], [[0.4704863727092743]]], "std": [[[0.2369949221611023]], [[0.2369949221611023]], [[0.2369949221611023]]], "count": [1563]}}}
+{"episode_index": 3, "stats": {"observation.state": {"min": [1.0503548383712769, -0.8818831443786621, -0.2027875781059265, 1.0284920930862427, -1.9862791299819946, -0.7681571841239929, -0.04716739058494568, 0.00612729974091053, -0.21027421951293945, -0.28822076320648193, -0.3362928032875061, 0.0030588137451559305, -0.07874315977096558, -0.12882207334041595, 0.003436777740716934, 0.0008256534347310662, -0.1743975281715393, -0.0009206684189848602, 0.003468688577413559, 0.0008176717674359679, -0.16601000726222992, -0.03757820278406143, 0.003056686371564865, 0.000815454637631774, 0.004478337708860636, -0.14174425601959229, -0.03823442384600639, 0.0035445650573819876, 0.0008779773488640785, 0.8825505375862122, -0.8745173811912537, -0.23109851777553558, 1.0258427858352661, -1.581000804901123, -0.8246912956237793, -0.0995534360408783, 0.007415707688778639, -0.3181155025959015, 0.00322346412576735, -0.3157132863998413, 0.0034605334512889385, 0.00515110744163394, -0.1053783968091011, -0.004717813339084387, 0.000788405945058912, 0.0036750519648194313, -0.0699923112988472, 0.0020100169349461794, 0.0008522588177584112, -0.000263958761934191, -0.03290301188826561, 0.0035339281894266605, 0.0008407297427766025, 0.005874072201550007, -0.05385897308588028, -0.037327006459236145, 0.0034647881984710693, 0.0009045827318914235, 0.5622039437294006, -1.1070547103881836, 0.545426070690155, -0.0057524279691278934, -0.03863714262843132, -0.06097573786973953, -0.8726432919502258], "max": [1.1897400617599487, -0.5812692642211914, -0.0010021209018304944, 1.5678529739379883, 0.031029915437102318, 0.3781201243400574, 0.6981813311576843, 1.3333357572555542, 0.07001934200525284, 0.40449029207229614, -0.003841867670416832, 0.49142059683799744, 1.1158403158187866, 0.19724558293819427, 0.692801296710968, 0.604356586933136, 1.4664511680603027, 0.16879233717918396, 1.6535617113113403, 0.8455600142478943, 1.4701827764511108, 0.18926456570625305, 1.6033297777175903, 0.8224447965621948, 0.13902755081653595, 1.4666091203689575, 0.11340164393186569, 1.6537277698516846, 1.308365821838379, 1.3349062204360962, -0.2752114534378052, 5.15321698912885e-06, 1.7104551792144775, 0.7589669823646545, 0.2613877058029175, 0.6981537342071533, 1.5532199144363403, 0.00017381161160301417, 0.8570296764373779, 0.3146090805530548, 0.5230504274368286, 1.0685542821884155, 0.2818804681301117, 1.0458391904830933, 1.0890138149261475, 1.4726510047912598, 0.260198175907135, 1.6556763648986816, 1.3082854747772217, 1.4751654863357544, 0.2291053682565689, 1.654860496520996, 1.3081986904144287, 0.07743542641401291, 1.4688891172409058, 0.3111179769039154, 1.6552999019622803, 1.3081765174865723, 0.5636420845985413, -1.105904221534729, 0.651078999042511, 0.01859951764345169, 0.0013422331539914012, 0.0788082629442215, -0.5526165962219238], "mean": [1.1271467208862305, -0.75920170545578, -0.1427440643310547, 1.226296067237854, -0.23991812765598297, 0.009862815961241722, 0.3339257836341858, 1.0403809547424316, -0.011556185781955719, -0.21130014955997467, -0.3014000952243805, 0.47583913803100586, 0.8374024629592896, 0.050597645342350006, 0.20507876574993134, 0.4173509478569031, 0.9496902823448181, 0.1251235008239746, 0.60777747631073, 0.36468422412872314, 0.7974088191986084, 0.08328500390052795, 0.8119291067123413, 0.5628148317337036, 0.06820346415042877, 0.7575794458389282, 0.05533398315310478, 1.196917176246643, 0.9657561779022217, 1.069627046585083, -0.6252169609069824, -0.21191278100013733, 1.3259669542312622, -0.909912645816803, -0.3525916635990143, 0.21875274181365967, 1.3702795505523682, -0.24121923744678497, 0.5879526138305664, 0.013716809451580048, 0.0985492542386055, 0.8802584409713745, 0.19255390763282776, 0.13804218173027039, 0.508031964302063, 1.4231446981430054, 0.18372875452041626, 1.523971676826477, 0.9994819164276123, 1.4225194454193115, 0.14084269106388092, 1.599503993988037, 1.1144094467163086, 0.07158311456441879, 1.4192677736282349, 0.26761800050735474, 1.6122161149978638, 1.2736401557922363, 0.5627067685127258, -1.1067479848861694, 0.6389493346214294, 0.007122581358999014, -0.012213652953505516, 0.0409901961684227, -0.8656201958656311], "std": [0.015442471019923687, 0.05364706739783287, 0.016032051295042038, 0.10468962043523788, 0.42561957240104675, 0.2356630265712738, 0.18232546746730804, 0.1360008269548416, 0.05432937666773796, 0.13369478285312653, 0.030427196994423866, 0.04588916152715683, 0.24721834063529968, 0.08148068934679031, 0.11057133227586746, 0.1401672065258026, 0.4303039014339447, 0.030081627890467644, 0.5296877026557922, 0.29036521911621094, 0.44264888763427734, 0.06729621440172195, 0.45193055272102356, 0.20250341296195984, 0.045461058616638184, 0.43114322423934937, 0.038540951907634735, 0.5977288484573364, 0.46685007214546204, 0.06719205528497696, 0.14170204102993011, 0.03041253611445427, 0.14573568105697632, 0.5861087441444397, 0.2073429971933365, 0.1957540363073349, 0.14025664329528809, 0.03890816867351532, 0.17391307651996613, 0.12030938267707825, 0.11353599280118942, 0.16157746315002441, 0.0569547601044178, 0.16559945046901703, 0.2520221173763275, 0.2282455414533615, 0.04901394620537758, 0.421692818403244, 0.25252482295036316, 0.2378236949443817, 0.05280466750264168, 0.28877270221710205, 0.2770521640777588, 0.013250842690467834, 0.2539949417114258, 0.05953257903456688, 0.24286380410194397, 0.19134469330310822, 6.84127226122655e-05, 5.722055720980279e-05, 0.01211303286254406, 0.006626226007938385, 0.010297161526978016, 0.028180738911032677, 0.03903781250119209], "count": [3340]}, "observation.state.joint_torque": {"min": [-41.11050033569336, -10.038000106811523, -16.764999389648438, -18.29199981689453, -1.5263999700546265, -6.379199981689453, -6.519999980926514, -1.8377001285552979, -1.1308923959732056, -0.9494147896766663, -0.6151313185691833, -0.38351914286613464, -0.3885830044746399, -1.026626706123352, -0.16934612393379211, -0.032821137458086014, -2.1434431076049805, -0.3147042691707611, -0.5744485855102539, -0.04066966846585274, -1.6368459463119507, -1.9457935094833374, -0.18760894238948822, -0.04780469834804535, -0.17372143268585205, -0.5392189025878906, -0.6342058777809143, -0.11953844130039215, -0.03710215538740158, -3.1424999237060547, -8.3100004196167, -12.303999900817871, -9.451000213623047, -2.153599977493286, -7.597599983215332, -3.4760000705718994, -1.910291314125061, -0.7793988585472107, -1.0115493535995483, -1.2215638160705566, -0.14776279032230377, -1.520750880241394, -1.2060465812683105, -0.8351088166236877, -0.21333740651607513, -1.3605202436447144, -1.0765188932418823, -1.0592433214187622, -0.21333740651607513, -1.0429376363754272, -1.331736445426941, -0.6342178583145142, -0.05636673793196678, -0.13413932919502258, -1.6080620288848877, -0.7176792621612549, -0.3968012034893036, -0.06706927716732025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-9.237000465393066, 24.298500061035156, 4.025000095367432, 19.319000244140625, 3.0655999183654785, 4.081600189208984, 3.214400053024292, 2.940574884414673, 4.209008693695068, 2.7699549198150635, 1.5235373973846436, 1.0144164562225342, 2.1501595973968506, 0.3012717664241791, 1.0575830936431885, 0.21333740651607513, 1.6790624856948853, 2.142483711242676, 1.054262638092041, 0.04780469834804535, 0.7301523089408875, 0.521948516368866, 0.22413457930088043, 0.05279921740293503, 0.43804189562797546, 0.7176792621612549, 0.3924208879470825, 0.35861530900001526, 0.07705831527709961, 47.5620002746582, 14.737500190734863, 22.500999450683594, 3.611999988555908, 2.6591999530792236, 5.404799938201904, 5.897600173950195, 2.735537052154541, 4.76554012298584, 2.7774112224578857, 1.7981717586517334, 1.0575830936431885, 2.1568756103515625, 2.138645648956299, 1.0758458375930786, 0.21405088901519775, 1.5217102766036987, 0.815544605255127, 0.9745702743530273, 0.21262387931346893, 1.5284265279769897, 0.32046106457710266, 0.7587370276451111, 0.14912211894989014, 0.1130288764834404, 1.5197913646697998, 0.6274896264076233, 0.6873460412025452, 0.16196517646312714, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.489036560058594, 4.996645927429199, -12.304377555847168, -2.9094247817993164, -0.1516275256872177, -0.08952538669109344, 1.797326922416687, 0.18689589202404022, 0.32482486963272095, 0.1284409612417221, 0.04902024567127228, 0.03471970930695534, 0.2549992799758911, -0.002694547176361084, 0.10549569129943848, 0.0251692533493042, 0.1361234039068222, 0.2138025164604187, 0.006997937802225351, 0.0015748317819088697, -0.11180644482374191, -0.19875936210155487, 0.002996911760419607, 8.9504464995116e-05, 0.00799619685858488, 0.01738613098859787, 0.005060785915702581, 0.0052794888615608215, 0.0027668492402881384, 23.33649444580078, 1.9162369966506958, 10.936325073242188, -4.73337459564209, -0.355111300945282, 0.8554203510284424, -1.1085481643676758, 0.08159539103507996, 0.6075426936149597, 0.3065633475780487, 0.11789161711931229, 0.04293448105454445, 0.5753808617591858, -0.017441025003790855, 0.2651575207710266, 0.06120946630835533, -0.019750544801354408, -0.031131956726312637, -0.010083824396133423, 0.0006506979116238654, -0.0013774432009086013, -0.041103243827819824, 0.0007769410731270909, 0.0007666992605663836, 0.0007830854156054556, 0.016272976994514465, -0.01781952939927578, 0.0006298038060776889, 0.0015378776006400585, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.0433990955352783, 1.8534711599349976, 1.1729718446731567, 1.9345334768295288, 0.4844262897968292, 1.0023939609527588, 0.6414090394973755, 0.6019362211227417, 0.9470113515853882, 0.4728558659553528, 0.21979501843452454, 0.11961443722248077, 0.6282858848571777, 0.12022902071475983, 0.2912696599960327, 0.06473007798194885, 0.27000635862350464, 0.46147483587265015, 0.0414862185716629, 0.007547353859990835, 0.2732415497303009, 0.43042975664138794, 0.03100675903260708, 0.007181236986070871, 0.042669590562582016, 0.11194305121898651, 0.0937584787607193, 0.016713455319404602, 0.007227657362818718, 3.83258318901062, 2.667720079421997, 2.3230230808258057, 1.9297726154327393, 0.3982127010822296, 1.1852389574050903, 0.8955863118171692, 0.6116294264793396, 0.9475387930870056, 0.5322263240814209, 0.3456178605556488, 0.13358435034751892, 0.8339297771453857, 0.30083155632019043, 0.4005366861820221, 0.09850601851940155, 0.13851845264434814, 0.1544177234172821, 0.09631026536226273, 0.019271207973361015, 0.09786396473646164, 0.13202829658985138, 0.02050066366791725, 0.010261713527143002, 0.01121134590357542, 0.07574322074651718, 0.11114326864480972, 0.021650951355695724, 0.006437212228775024, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [3340]}, "observation.state.tcp": {"min": [0.3626728951931, 0.17575642466545105, 0.9303018450737, -1.331091284751892, 1.1933684349060059, -1.7520662546157837, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.24040693044662476, -0.29014822840690613, 0.8842048645019531, -1.8719055652618408, -1.9692106246948242, -1.6541918516159058, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4670371413230896, 0.28922876715660095, 1.0510644912719727, 0.7911912798881531, 2.351612091064453, -0.2581244111061096, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4889935851097107, -0.0007073592278175056, 1.0512343645095825, 1.8213872909545898, 2.283857583999634, 1.7196576595306396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.41324278712272644, 0.2327602505683899, 0.9624268412590027, -0.9757300615310669, 1.8322216272354126, -1.4208195209503174, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3565120995044708, -0.14758165180683136, 0.9318134188652039, 0.061047352850437164, 1.67075514793396, 0.9400424957275391, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.025332454591989517, 0.022110706195235252, 0.01702915132045746, 0.45692476630210876, 0.2879612147808075, 0.2646699547767639, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04202915355563164, 0.06578922271728516, 0.028024086728692055, 0.6529703736305237, 0.7926141023635864, 0.645915150642395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [3340]}, "action": {"min": [1.0501301288604736, -0.8819565773010254, -0.20292000472545624, 1.0276294946670532, -1.9862958192825317, -0.7648389339447021, -0.04744675010442734, 0.0, -0.2085147500038147, -0.29184046387672424, -0.3490658402442932, 0.0, -0.09699174761772156, -0.12683016061782837, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.1745329201221466, -0.06393725425004959, 0.0, 0.0, 0.0, -0.15084369480609894, -0.18080741167068481, 0.0, 0.0, 0.8825318217277527, -0.8745741844177246, -0.23115526139736176, 1.0258269309997559, -1.5809831619262695, -0.8258426785469055, -0.1002088263630867, 0.0, -0.3218291699886322, 0.0, -0.318481981754303, -0.17376568913459778, 0.0, -0.10803908854722977, 0.0, 0.0, 0.0, -0.07975626736879349, 0.0, 0.0, 0.0, -0.09250742942094803, 0.0, 0.0, 0.0, -0.05781190097332001, -0.128268301486969, 0.0, 0.0, 0.5626833438873291, -1.1069231033325195, 0.5442397594451904, -0.006343544460833073, -0.04633745178580284, -0.061989765614271164, -0.8726646304130554], "max": [1.1897449493408203, -0.5808890461921692, -0.0008813180611468852, 1.5682141780853271, 0.0309677105396986, 0.378768652677536, 0.8186865448951721, 1.340986728668213, 0.07431309670209885, 0.4064323902130127, 0.0, 0.4822549521923065, 1.326350450515747, 0.25043338537216187, 0.8876499533653259, 0.659324049949646, 1.5707963705062866, 0.1980862021446228, 1.7453292608261108, 0.8497676253318787, 1.5707963705062866, 0.18840259313583374, 1.6091386079788208, 0.8253393769264221, 0.15172025561332703, 1.517202615737915, 0.1147715374827385, 1.7453292608261108, 1.3962633609771729, 1.3350515365600586, -0.275123655796051, 0.0, 1.7104434967041016, 0.758948564529419, 0.26141732931137085, 0.7107118368148804, 1.5412617921829224, 0.0, 0.8580193519592285, 0.3490658402442932, 0.528413712978363, 1.1391724348068237, 0.2528298497200012, 1.2729743719100952, 1.1411375999450684, 1.5707963705062866, 0.2651017904281616, 1.7453292608261108, 1.3191754817962646, 1.5707963705062866, 0.23423045873641968, 1.7453292608261108, 1.3962633609771729, 0.08568242192268372, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5627791881561279, -1.106767177581787, 0.6516458988189697, 0.019046105444431305, 0.0017616146942600608, 0.08091504126787186, -0.5527556538581848], "mean": [1.1271255016326904, -0.7591882944107056, -0.1427491158246994, 1.2261786460876465, -0.23942938446998596, 0.009751636534929276, 0.3354549705982208, 1.0441310405731201, -0.010425865650177002, -0.21115542948246002, -0.31182000041007996, 0.4766366481781006, 0.8505412936210632, 0.04659852012991905, 0.21522825956344604, 0.44074854254722595, 0.9713596701622009, 0.12847481667995453, 0.6230462193489075, 0.36685439944267273, 0.8157649636268616, 0.08190712332725525, 0.813149631023407, 0.5647447109222412, 0.07678092271089554, 0.7606339454650879, 0.05191989988088608, 1.2474422454833984, 1.016252875328064, 1.06966233253479, -0.6252460479736328, -0.2119198739528656, 1.3259094953536987, -0.9100732207298279, -0.35285940766334534, 0.21909111738204956, 1.3701406717300415, -0.23930180072784424, 0.5883630514144897, 0.014251346699893475, 0.06448482722043991, 0.8955085277557373, 0.18886572122573853, 0.1558121144771576, 0.5490494966506958, 1.5220768451690674, 0.18278448283672333, 1.6052173376083374, 1.000983715057373, 1.52250337600708, 0.13925692439079285, 1.6880828142166138, 1.133547067642212, 0.07583429664373398, 1.5211057662963867, 0.2696461081504822, 1.6989916563034058, 1.359230875968933, 0.5627694129943848, -1.1067454814910889, 0.6389909982681274, 0.0071526458486914635, -0.012254947796463966, 0.04102519527077675, -0.8657965660095215], "std": [0.015378613024950027, 0.0537007637321949, 0.01602553017437458, 0.10469450056552887, 0.42456158995628357, 0.23573808372020721, 0.1856493204832077, 0.14651481807231903, 0.05404185131192207, 0.13608358800411224, 0.036866310983896255, 0.051806624978780746, 0.259220153093338, 0.07880543917417526, 0.1254904568195343, 0.15552210807800293, 0.45270228385925293, 0.03227870911359787, 0.5574625134468079, 0.29035142064094543, 0.4670041501522064, 0.06957285106182098, 0.45143741369247437, 0.2027343064546585, 0.04195035621523857, 0.4314558804035187, 0.05064483731985092, 0.6338908672332764, 0.5026497840881348, 0.06717274338006973, 0.14176936447620392, 0.03040478564798832, 0.1458282172679901, 0.5863059163093567, 0.20745202898979187, 0.1962173879146576, 0.15377548336982727, 0.04172205179929733, 0.17662979662418365, 0.12203818559646606, 0.1505456268787384, 0.17254367470741272, 0.0587196908891201, 0.20619411766529083, 0.2881607711315155, 0.2516136169433594, 0.05012546479701996, 0.4479745328426361, 0.2534135580062866, 0.25879374146461487, 0.055154409259557724, 0.30385109782218933, 0.2916408181190491, 0.01418575830757618, 0.27258777618408203, 0.06764185428619385, 0.2615184187889099, 0.2092234194278717, 1.3576485798694193e-05, 2.5826484488788992e-05, 0.012253477238118649, 0.006658920086920261, 0.010350089520215988, 0.028221242129802704, 0.03912995010614395], "count": [3340]}, "observation.state.tcp_pose": {"min": [0.3626728951931, 0.17575642466545105, 0.9303018450737, -1.331091284751892, 1.1933684349060059, -1.7520662546157837, 0.24040693044662476, -0.29014822840690613, 0.8842048645019531, -1.8719055652618408, -1.9692106246948242, -1.6541918516159058], "max": [0.4670371413230896, 0.28922876715660095, 1.0510644912719727, 0.7911912798881531, 2.351612091064453, -0.2581244111061096, 0.4889935851097107, -0.0007073592278175056, 1.0512343645095825, 1.8213872909545898, 2.283857583999634, 1.7196576595306396], "mean": [0.41324278712272644, 0.2327602505683899, 0.9624268412590027, -0.9757300615310669, 1.8322216272354126, -1.4208195209503174, 0.3565120995044708, -0.14758165180683136, 0.9318134188652039, 0.061047352850437164, 1.67075514793396, 0.9400424957275391], "std": [0.025332454591989517, 0.022110706195235252, 0.01702915132045746, 0.45692476630210876, 0.2879612147808075, 0.2646699547767639, 0.04202915355563164, 0.06578922271728516, 0.028024086728692055, 0.6529703736305237, 0.7926141023635864, 0.645915150642395], "count": [3340]}, "action.tcp_pose": {"min": [0.36195603013038635, 0.17552389204502106, 0.9289132952690125, -1.3319488763809204, 1.1234254837036133, -1.7522777318954468, 0.24044106900691986, -0.2901758849620819, 0.8841511607170105, -1.8725818395614624, -1.9408302307128906, -1.6441571712493896], "max": [0.4641207158565521, 0.2887652814388275, 1.0514017343521118, 0.7917521595954895, 2.351914644241333, -0.2572396993637085, 0.4888349771499634, -0.0008810118306428194, 1.051806092262268, 1.8095300197601318, 2.285722017288208, 1.7188405990600586], "mean": [0.41332751512527466, 0.23277483880519867, 0.9624472856521606, -0.9753444790840149, 1.8310809135437012, -1.4214963912963867, 0.3565909266471863, -0.14762896299362183, 0.9317855834960938, 0.05971426144242287, 1.6692187786102295, 0.9390427470207214], "std": [0.02531897835433483, 0.022110646590590477, 0.017162010073661804, 0.45614224672317505, 0.2901252210140228, 0.26392149925231934, 0.04203474149107933, 0.06583196669816971, 0.028036678209900856, 0.6533340811729431, 0.7946348190307617, 0.6473723649978638], "count": [3340]}, "subtask_index": {"min": [96], "max": [139], "mean": [114.1380239520958], "std": [12.390688156089727], "count": [3340]}, "observation.tactile": {"min": [-19.392614364624023, -3.8828470706939697, -8.647245704196393e-05, -0.4666636884212494, -0.070955291390419, -0.21548110246658325, -0.9555491805076599, -2.2646850993623957e-05, -4.561580499284901e-05, -0.40389493107795715, -0.025050057098269463, -0.00023669049551244825, -0.016837717965245247, -3.339943214086816e-05, -7.299627759493887e-05, -0.0018394824583083391, -0.00017379201017320156, -0.00036765786353498697, -0.007559345569461584, -3.527574517647736e-05, -7.723060116404667e-05, -0.001127502997405827, -5.9409190726000816e-05, -0.00017146317986771464, -0.0018379257526248693, -5.707675882149488e-05, -0.00012874219100922346, -0.0010333787649869919, -3.4747707104543224e-05, -1.9224913557991385e-05, -2.4519054889678955, -0.35964712500572205, -8.199770672945306e-05, -0.3133598566055298, -0.019109126180410385, -0.07157782465219498, -6.327343940734863, 0.0, 0.0, -0.43834972381591797, -0.030936958268284798, -0.11428575217723846, -8.952526092529297, -1.9248627424240112, -2.7481930255889893, -0.09233665466308594, -0.03403349593281746, -0.14957840740680695, -0.015577609650790691, -4.317506682127714e-05, -9.478077117819339e-05, -0.0021650423295795918, -0.00019380052981432527, -0.0003661608207039535, -0.009036964736878872, -3.820484198513441e-05, -8.600221190135926e-05, -0.0017524580471217632, -8.344699745066464e-05, -0.00018221157370135188], "max": [5.805403709411621, 24.905759811401367, 21.99614715576172, 1.6524453485544655e-06, 0.03386831283569336, 0.12025602161884308, 14.453139305114746, 25.9534854888916, 16.853965759277344, 7.770941579110513e-07, 0.04839319363236427, 0.1949225664138794, 0.1656804382801056, 0.03166332095861435, 0.08976238965988159, 1.3580945505964337e-06, 0.00019168609287589788, 0.002622725209221244, 0.002285547088831663, 0.019875643774867058, 0.05754147469997406, 1.380811454509967e-06, 9.28283843677491e-05, 3.502991603454575e-05, 0.3559124171733856, 0.050188902765512466, 0.06597162038087845, 2.4370942810492124e-06, 9.096816211240366e-05, 0.005643906071782112, 6.67037296295166, 12.411810874938965, 13.470121383666992, 1.5179487036220962e-06, 0.036289896816015244, 0.14999981224536896, 7.8301496505737305, 12.823285102844238, 24.423154830932617, 0.0, 0.02494976483285427, 0.15735363960266113, 0.028158975765109062, 1.9258543252944946, 5.179617881774902, 0.04838348180055618, 0.016868550330400467, 0.00037850174703635275, 0.009421678259968758, 0.04705927148461342, 0.13178159296512604, 1.7386342960890033e-06, 0.0001904969394672662, 0.00010114923497894779, 0.003915717825293541, 0.029207739979028702, 0.08029250800609589, 1.5939499462547246e-06, 0.00012246456753928214, 6.238231435418129e-05], "mean": [-0.5601137280464172, 0.7246685028076172, 1.725058913230896, -0.031037677079439163, -0.002541091525927186, -0.008377357386052608, 0.6900359988212585, 1.035436749458313, 1.3955589532852173, -0.02492177113890648, 0.0011618989519774914, 0.01141188945621252, -0.0039059061091393232, 0.00984011311084032, 0.028633231297135353, -0.0005346987163648009, 5.756395330536179e-05, -9.069104271475226e-05, -0.0007171555771492422, 0.0031361987348645926, 0.009209806099534035, -0.00018778772209770977, 1.2030099242110737e-05, -1.8481512597645633e-05, 0.00043939187889918685, 0.00021986986394040287, 0.0006589613039977849, -1.4458226360147819e-05, -9.779600418369228e-08, 8.378881830140017e-06, 0.7427384853363037, 1.3909001350402832, 1.8576302528381348, -0.040892813354730606, 0.002512066625058651, 0.01506943628191948, -0.2652033269405365, 2.230045795440674, 4.267796039581299, -0.08862809091806412, -0.004237910732626915, -0.002818218432366848, -0.04273694381117821, 0.017411891371011734, 0.034513022750616074, -0.0007373864063993096, 2.6555162548902445e-05, -0.0007042973884381354, -0.0018342790426686406, 0.012609260156750679, 0.03456230089068413, -0.0007013773429207504, 8.263390554930083e-06, -3.433690289966762e-05, -0.001264880527742207, 0.006825597491115332, 0.019389057531952858, -0.0004114129988010973, 6.122000286268303e-06, -2.8810954972868785e-05], "std": [2.102443218231201, 2.3806073665618896, 4.838319778442383, 0.08613724261522293, 0.009391142055392265, 0.03498883917927742, 2.1814041137695312, 3.0546278953552246, 3.6914420127868652, 0.06656693667173386, 0.004530284088104963, 0.03575539588928223, 0.005467231851071119, 0.005895247217267752, 0.017059462144970894, 0.0003379844129085541, 3.5231554647907615e-05, 9.725562995299697e-05, 0.0009685044060461223, 0.003323845798149705, 0.009620552882552147, 0.0001999340602196753, 1.6104142559925094e-05, 2.1079971702420153e-05, 0.006153882015496492, 0.0011121445568278432, 0.0023394227027893066, 4.8550497012911364e-05, 6.1660575738642365e-06, 9.759945533005521e-05, 1.2612125873565674, 2.0953738689422607, 2.6624755859375, 0.05893972888588905, 0.007851746864616871, 0.027534443885087967, 1.515339970588684, 2.8754501342773438, 5.419924736022949, 0.11035538464784622, 0.009572261944413185, 0.028946563601493835, 0.4745543897151947, 0.0867234542965889, 0.15743151307106018, 0.002787854289636016, 0.0010038823820650578, 0.007827048189938068, 0.0020097405649721622, 0.00758968573063612, 0.020770998671650887, 0.0003842379373963922, 4.2748117266455665e-05, 3.809713598457165e-05, 0.001328350743278861, 0.004272685386240482, 0.012170117348432541, 0.00026729798992164433, 2.2166648705024272e-05, 2.425254206173122e-05], "count": [3340]}, "timestamp": {"min": [0.0], "max": [111.3], "mean": [55.65], "std": [32.13916354439445], "count": [3340]}, "frame_index": {"min": [0], "max": [3339], "mean": [1669.5], "std": [964.1749063318335], "count": [3340]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [3340]}, "index": {"min": [4890], "max": [8229], "mean": [6559.5], "std": [964.1749063318335], "count": [3340]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [3340]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5509428381919861]], [[0.5502772927284241]], [[0.5520358085632324]]], "std": [[[0.30133551359176636]], [[0.30153489112854004]], [[0.30265313386917114]]], "count": [3340]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25200653076171875]], [[0.2528687119483948]], [[0.25349000096321106]]], "std": [[[0.16073405742645264]], [[0.1622481793165207]], [[0.1629617065191269]]], "count": [3340]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.20701000094413757]], [[0.2066224217414856]], [[0.20720364153385162]]], "std": [[[0.13978543877601624]], [[0.13963595032691956]], [[0.14305062592029572]]], "count": [3340]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5490033626556396]], [[0.5484318733215332]], [[0.5501091480255127]]], "std": [[[0.29998549818992615]], [[0.30039945244789124]], [[0.3016563355922699]]], "count": [3340]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7176470756530762]], [[0.7176470756530762]], [[0.7176470756530762]]], "mean": [[[0.0023481613025069237]], [[0.0023481613025069237]], [[0.0023481613025069237]]], "std": [[[0.0288561899214983]], [[0.0288561899214983]], [[0.0288561899214983]]], "count": [3340]}, "observation.images.tactile_raw": {"min": [[[0.0235294122248888]], [[0.0235294122248888]], [[0.0235294122248888]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4701049327850342]], [[0.4701049327850342]], [[0.4701049327850342]]], "std": [[[0.2365780621767044]], [[0.2365780621767044]], [[0.2365780621767044]]], "count": [3340]}}}
+{"episode_index": 4, "stats": {"observation.state": {"min": [1.0499824285507202, -0.7915041446685791, -0.19724392890930176, 1.1505284309387207, -4.7217847168212757e-05, -0.7700522541999817, 0.5199776887893677, 0.006256844848394394, -0.0401480458676815, -0.2757680118083954, -0.307625949382782, 0.003067323472350836, -0.04287135228514671, -0.015951311215758324, 0.0034353595692664385, 0.0008229928789660335, -0.1721840649843216, -0.017993062734603882, 0.0034782616421580315, 0.0008216626010835171, -0.13380245864391327, -0.03723329305648804, 0.003081151284277439, 0.0008096902165561914, 0.0054705506190657616, -0.14217601716518402, -0.040313709527254105, 0.0035314462147653103, 0.0008447205764241517, 0.9284515380859375, -0.8605468273162842, -0.2321598380804062, 1.0192291736602783, -1.467573881149292, -0.8899779319763184, -0.12771564722061157, 0.007878962904214859, -0.3181655704975128, 0.003053189953789115, -0.22799792885780334, 0.003500953782349825, 0.0050701540894806385, -0.14079661667346954, 0.0026500029489398003, 0.0007675649831071496, 0.0036750519648194313, -0.02160114422440529, 0.0025220056995749474, 0.0008495982619933784, -0.0006912956014275551, -0.03223992884159088, 0.003567611565813422, 0.0008194454712793231, 0.005879423581063747, -0.05557715520262718, -0.037531111389398575, 0.0034559243358671665, 0.0008939405088312924, 0.5623956918716431, -1.1070547103881836, 0.5449466705322266, -0.007574030198156834, -0.036911413073539734, 9.58738019107841e-05, -0.8729309439659119], "max": [1.2645071744918823, -0.6596033573150635, 7.789746632624883e-06, 1.5700050592422485, 0.009997719898819923, -0.25481075048446655, 0.6981737017631531, 1.0435858964920044, 0.0030267098918557167, 0.0017894876655191183, -0.005314671900123358, 0.4796161353588104, 0.6881659030914307, 0.1001647338271141, 0.2343568503856659, 0.28588491678237915, 0.5546644330024719, 0.1279936581850052, 0.09268096089363098, 0.036282189190387726, 0.30245253443717957, 0.07832417637109756, 0.09608902037143707, 0.32291650772094727, 0.005906182806938887, 0.20029094815254211, 0.0007737205014564097, 0.015502198599278927, 0.017689025029540062, 1.35317063331604, -0.28143540024757385, -0.0013358815340325236, 1.5681102275848389, 0.25232234597206116, -0.013709234073758125, 0.6016489863395691, 1.5214166641235352, 0.0001709205680526793, 0.9452164769172668, 0.3162841796875, 0.3204209506511688, 1.0718395709991455, 0.2399430125951767, 0.45085328817367554, 0.9087801575660706, 1.46892511844635, 0.25839680433273315, 1.6556447744369507, 1.30824875831604, 1.4686880111694336, 0.19245977699756622, 1.654833197593689, 1.3082042932510376, 0.06145191565155983, 1.4686663150787354, 0.31551769375801086, 1.655249834060669, 1.3081949949264526, 0.5637379288673401, -1.1060960292816162, 0.6641178131103516, 0.004506068769842386, -9.58738019107841e-05, 0.14055098593235016, -0.5998823642730713], "mean": [1.1714035272598267, -0.7735635042190552, -0.14806336164474487, 1.1887673139572144, 0.009349381551146507, -0.3474552035331726, 0.6643277406692505, 1.002713918685913, -0.0010840627364814281, -0.2658829391002655, -0.28770264983177185, 0.4673466980457306, 0.5553972721099854, 0.08408810943365097, 0.1133454218506813, 0.27547159790992737, 0.4227168560028076, 0.11194619536399841, 0.05601421371102333, 0.032446425408124924, 0.25808945298194885, 0.0564725361764431, 0.049010396003723145, 0.3127744495868683, 0.005716131068766117, 0.14996427297592163, -0.023333445191383362, 0.00890051107853651, 0.006546014454215765, 1.072213053703308, -0.622400164604187, -0.21254092454910278, 1.3283427953720093, -1.24288809299469, -0.47224920988082886, 0.13086315989494324, 1.3194057941436768, -0.22941607236862183, 0.6123820543289185, 0.020089920610189438, 0.0396178774535656, 0.8818966150283813, 0.17030519247055054, 0.050679925829172134, 0.534173846244812, 1.382225513458252, 0.1508634090423584, 1.5394521951675415, 1.2074337005615234, 1.3778244256973267, 0.1299133151769638, 1.5454338788986206, 1.2144296169281006, 0.057095348834991455, 1.3699297904968262, 0.2649441659450531, 1.5591360330581665, 1.2321116924285889, 0.5626838803291321, -1.1067826747894287, 0.6528730392456055, -0.0008255192660726607, -0.01508420705795288, 0.12065668404102325, -0.8594188094139099], "std": [0.024810034781694412, 0.016466086730360985, 0.02154424786567688, 0.05838342383503914, 0.0016941926442086697, 0.08579445630311966, 0.03314880654215813, 0.1477251648902893, 0.005506595131009817, 0.040222108364105225, 0.04270119592547417, 0.06974487006664276, 0.1427679806947708, 0.020276227965950966, 0.09384141117334366, 0.04152664542198181, 0.15444201231002808, 0.026719721034169197, 0.02628922089934349, 0.007131803315132856, 0.07914194464683533, 0.02248431369662285, 0.0408136211335659, 0.04739059880375862, 6.54131654300727e-05, 0.06609383225440979, 0.012058785185217857, 0.004912514239549637, 0.005537660326808691, 0.07694005221128464, 0.14496193826198578, 0.035494349896907806, 0.14062471687793732, 0.31530192494392395, 0.19983968138694763, 0.14490532875061035, 0.18831835687160492, 0.0574452206492424, 0.17945042252540588, 0.10102815926074982, 0.06285926699638367, 0.1968224048614502, 0.06463222205638885, 0.048294611275196075, 0.25304079055786133, 0.3201775550842285, 0.041926126927137375, 0.4107331335544586, 0.3246704936027527, 0.33578431606292725, 0.03811861574649811, 0.40177416801452637, 0.3242756724357605, 0.01344263181090355, 0.3620052933692932, 0.0698450431227684, 0.36890554428100586, 0.2907542288303375, 7.68334066378884e-05, 6.343758286675438e-05, 0.016206612810492516, 0.0042018163949251175, 0.005553850904107094, 0.0232634786516428, 0.052138619124889374], "count": [1602]}, "observation.state.joint_torque": {"min": [-57.298500061035156, -0.33899998664855957, -27.621999740600586, -5.9019999504089355, -0.010400000028312206, -0.5415999889373779, 0.5216000080108643, -0.8456223011016846, -0.6100196838378906, -0.2112572193145752, -0.33179813623428345, -0.10791664570569992, -0.26864996552467346, -0.24082551896572113, -0.10127562284469604, -0.0321076326072216, -0.2744067907333374, -0.22643357515335083, -0.08467306196689606, -0.032821137458086014, -0.37035319209098816, -0.40777233242988586, -0.09297433495521545, -0.04709119349718094, -0.001759204315021634, -0.36363697052001953, -0.3271773159503937, -0.07471152395009995, -0.038529157638549805, 2.734499931335449, -6.511499881744385, -4.84499979019165, -8.065999984741211, -1.909600019454956, -5.3024001121521, -2.8584001064300537, -1.4671036005020142, -0.8443487286567688, -0.45979514718055725, -1.3122801780700684, -0.2108525186777115, -0.5305837392807007, -0.9594642519950867, -0.17100638151168823, -0.21333740651607513, -0.37035322189331055, -0.5987057089805603, -0.06641025096178055, -0.02354559674859047, -0.47877267003059387, -0.29263660311698914, -0.08135254681110382, -0.04352368041872978, -0.12446370720863342, -0.6620303392410278, -0.46342119574546814, -0.09131408482789993, -0.07491781562566757, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-5.557499885559082, 12.658499717712402, 0.03099999949336052, 0.9309999942779541, 1.7999999523162842, 1.0664000511169434, 4.588799953460693, 0.7755782604217529, 0.36295533180236816, 0.2497805953025818, 0.4138156771659851, 0.12783971428871155, 0.6629897356033325, 0.296474426984787, 0.11289741843938828, 0.021405089646577835, 0.4662996530532837, 0.21396051347255707, 0.10293588042259216, 0.02425910159945488, 0.5756785273551941, 0.3713126480579376, 0.1145576685667038, 0.01712406985461712, 0.0021990055684000254, 0.5516919493675232, 0.28016355633735657, 0.059769220650196075, 0.01855107769370079, 47.170501708984375, 9.510000228881836, 19.172000885009766, 1.343000054359436, 0.459199994802475, 2.9576001167297363, 1.960800051689148, 2.0605673789978027, 4.5490403175354, 2.061621904373169, 1.3992685079574585, 0.1959102302789688, 2.148240566253662, 1.0841946601867676, 1.0575830936431885, 0.21333740651607513, 1.09762704372406, 0.36747482419013977, 0.5810896754264832, 0.13271154463291168, 0.822260856628418, 0.40393444895744324, 0.7255319356918335, 0.07848532497882843, 0.10643186420202255, 0.40585336089134216, 0.4020155072212219, 0.1328205019235611, 0.1462681144475937, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.763568878173828, 5.383200168609619, -12.550209045410156, -1.8068245649337769, 0.43976762890815735, 0.15203338861465454, 2.2042605876922607, 0.02813608944416046, -0.009115814231336117, 0.005158480256795883, -0.012695255689322948, -2.3837412300053984e-05, 0.02700994536280632, 0.006844413001090288, 0.005459570325911045, 0.0008765155216678977, 0.052596308290958405, 0.009123299270868301, 0.009557374753057957, -0.0012288105208426714, 0.021409500390291214, 0.014735113829374313, 0.0066379280760884285, 0.00034739801776595414, -4.5846874854760244e-05, 0.04392039403319359, -0.008573483675718307, -0.0005378721398301423, -0.005999310873448849, 22.575014114379883, 2.149406909942627, 10.182944297790527, -4.716196060180664, -0.39173486828804016, 1.1524468660354614, -0.8565667867660522, 0.2320108562707901, 0.5987475514411926, 0.2944360077381134, 0.14269743859767914, -0.0005119613488204777, 0.6186127662658691, -0.099029541015625, 0.2963295876979828, 0.054577216506004333, 0.008135034702718258, -0.026315808296203613, 0.0014654212864115834, 0.0009593489812687039, 0.0006001134170219302, -0.020450567826628685, 0.0007036931347101927, -0.0001759264268912375, 0.0005380857037380338, 0.01445602998137474, -0.031141847372055054, 0.0010467293905094266, 0.0019810672383755445, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.2928117513656616, 1.005436658859253, 0.734801173210144, 0.67193603515625, 0.20485438406467438, 0.26936855912208557, 0.20277413725852966, 0.11139281094074249, 0.07735588401556015, 0.03288857266306877, 0.05307697504758835, 0.010443071834743023, 0.059039514511823654, 0.037464410066604614, 0.01508215069770813, 0.004645290318876505, 0.07104621082544327, 0.04980463162064552, 0.014163458719849586, 0.005861444864422083, 0.07197245210409164, 0.07029014080762863, 0.01796494796872139, 0.00583502184599638, 0.00034496182342991233, 0.07916639745235443, 0.05569825693964958, 0.007534323260188103, 0.010149004869163036, 4.110834121704102, 2.5467398166656494, 2.4271063804626465, 1.3336652517318726, 0.33619964122772217, 0.9957370758056641, 0.7406730651855469, 0.5870696306228638, 1.0018645524978638, 0.4669092297554016, 0.3864491283893585, 0.02601192332804203, 0.8152942061424255, 0.30545124411582947, 0.40744513273239136, 0.08962620049715042, 0.057972025126218796, 0.07173081487417221, 0.016980307176709175, 0.007768028881400824, 0.047088030725717545, 0.054943982511758804, 0.02082584612071514, 0.007505879737436771, 0.013470107689499855, 0.060312606394290924, 0.09080948680639267, 0.015289525501430035, 0.006460513453930616, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1602]}, "observation.state.tcp": {"min": [0.36175811290740967, 0.18994063138961792, 0.968413770198822, -1.2141293287277222, 1.210651159286499, -1.3852920532226562, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3067167103290558, -0.2625027894973755, 0.8922728300094604, -0.6373944282531738, 1.2197083234786987, 0.5175074934959412, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.46406322717666626, 0.29255688190460205, 1.0515732765197754, -0.927270770072937, 1.3589884042739868, -1.2268612384796143, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4926832318305969, -0.01353042759001255, 1.051259160041809, 1.3495815992355347, 2.0293190479278564, 1.5610095262527466, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4480478763580322, 0.27951574325561523, 0.9888550043106079, -1.0863192081451416, 1.2816665172576904, -1.2910593748092651, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.36145079135894775, -0.14757539331912994, 0.9293910264968872, -0.04027113690972328, 1.8282040357589722, 0.9142612814903259, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.011940930970013142, 0.018904326483607292, 0.014547026716172695, 0.043451420962810516, 0.040003784000873566, 0.025923149660229683, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03562004864215851, 0.055394548922777176, 0.03063850663602352, 0.3817056119441986, 0.14408697187900543, 0.1777758002281189, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1602]}, "action": {"min": [1.0499999523162842, -0.7914799451828003, -0.1972106248140335, 1.1504456996917725, -0.00012661510845646262, -0.7699999809265137, 0.5199999809265137, 0.0, -0.04725510627031326, -0.2743673622608185, -0.3137841820716858, 0.0, -0.057751886546611786, -0.016862936317920685, 0.0, 0.0, -0.1745329201221466, -0.022615499794483185, 0.0, 0.0, -0.15275417268276215, -0.08493334800004959, 0.0, 0.0, 0.0, -0.15055616199970245, -0.22011560201644897, 0.0, 0.0, 0.9284560680389404, -0.8606386780738831, -0.23218593001365662, 1.0192211866378784, -1.4675626754760742, -0.8917032480239868, -0.12814879417419434, 0.0, -0.3204868733882904, 0.0, -0.22874408960342407, -0.17232754826545715, 0.0, -0.14542990922927856, 0.0, 0.0, 0.0, -0.02664221078157425, 0.0, 0.0, 0.0, -0.06048566848039627, 0.0, 0.0, 0.0, -0.05832967534661293, -0.08234507590532303, 0.0, 0.0, 0.5626833438873291, -1.1069231033325195, 0.5442397594451904, -0.008241635747253895, -0.03806787356734276, 0.0, -0.872707724571228], "max": [1.2645037174224854, -0.6597176790237427, 0.0, 1.5700000524520874, 0.00997102726250887, -0.25462937355041504, 0.8206136226654053, 1.0587342977523804, 0.0, 0.0, 0.0, 0.4822549521923065, 0.696553647518158, 0.09895270317792892, 0.2388366460800171, 0.2895292043685913, 0.5641870498657227, 0.12608474493026733, 0.09869058430194855, 0.040007900446653366, 0.30666643381118774, 0.08361261337995529, 0.10306916385889053, 0.32756251096725464, 0.02342195436358452, 0.21170298755168915, 0.0, 0.02241523191332817, 0.01909804344177246, 1.3533506393432617, -0.2812884449958801, -0.00039985019247978926, 1.5695316791534424, 0.2523873746395111, -0.013587442226707935, 0.6031168103218079, 1.528290033340454, 0.0, 0.9439220428466797, 0.3490658402442932, 0.3244905173778534, 1.0844284296035767, 0.22493058443069458, 0.47770118713378906, 0.9127664566040039, 1.5707963705062866, 0.2608833312988281, 1.7453292608261108, 1.3962633609771729, 1.5707963705062866, 0.19310039281845093, 1.7453292608261108, 1.3962633609771729, 0.0817132294178009, 1.5707963705062866, 0.3339390158653259, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106767177581787, 0.664466381072998, 0.005261309444904327, 0.0, 0.1409425586462021, -0.5999586582183838], "mean": [1.171432375907898, -0.7735521793365479, -0.148057758808136, 1.188757300376892, 0.00935298576951027, -0.34753379225730896, 0.6789715886116028, 1.0089826583862305, -0.0011095624649897218, -0.26539936661720276, -0.29541125893592834, 0.4693099856376648, 0.5585949420928955, 0.08356669545173645, 0.11703275889158249, 0.2782880663871765, 0.4284890592098236, 0.11187753081321716, 0.06064620986580849, 0.03499678149819374, 0.2621787488460541, 0.057916343212127686, 0.05040871351957321, 0.3161229193210602, 0.019477711990475655, 0.15611271560192108, -0.03587356582283974, 0.011065003462135792, 0.008018692024052143, 1.0723007917404175, -0.6226048469543457, -0.2125500738620758, 1.3283271789550781, -1.2440598011016846, -0.47215211391448975, 0.13112524151802063, 1.318185806274414, -0.2279963493347168, 0.6102843880653381, 0.02081424556672573, -0.035285912454128265, 0.8916161060333252, 0.1641175001859665, 0.051903218030929565, 0.5526408553123474, 1.4781843423843384, 0.1491742879152298, 1.584121584892273, 1.2412794828414917, 1.4725669622421265, 0.1266888827085495, 1.6318861246109009, 1.257209062576294, 0.07365693897008896, 1.4672473669052124, 0.2615702450275421, 1.641476035118103, 1.3131539821624756, 0.5626831650733948, -1.1067850589752197, 0.6529053449630737, -0.0008200729498639703, -0.015123962424695492, 0.12068608403205872, -0.8593171834945679], "std": [0.024650920182466507, 0.016549939289689064, 0.021500103175640106, 0.05849707871675491, 0.0016869081882759929, 0.08601821959018707, 0.05254587158560753, 0.16355545818805695, 0.0059111462906003, 0.04415282607078552, 0.04926801100373268, 0.07794202119112015, 0.15140993893146515, 0.021272895857691765, 0.09507343918085098, 0.04628422483801842, 0.1615123301744461, 0.0282870065420866, 0.028357388451695442, 0.008253226988017559, 0.0846065878868103, 0.028183864429593086, 0.04268566519021988, 0.05270540714263916, 0.0054205008782446384, 0.07098589837551117, 0.035171229392290115, 0.009024111554026604, 0.00850395392626524, 0.07709095627069473, 0.1448948234319687, 0.03545468673110008, 0.14070755243301392, 0.3126046359539032, 0.20050695538520813, 0.14524824917316437, 0.2077343463897705, 0.06200608238577843, 0.18453837931156158, 0.10568445175886154, 0.1159764900803566, 0.20858119428157806, 0.06395131349563599, 0.049473103135824203, 0.2677591145038605, 0.3531239926815033, 0.042450472712516785, 0.42321380972862244, 0.3347696363925934, 0.3689669668674469, 0.04137628898024559, 0.42674800753593445, 0.33671829104423523, 0.019479112699627876, 0.38874533772468567, 0.0752292200922966, 0.3984335958957672, 0.3187445104122162, 1.7998210921632563e-07, 2.418930125713814e-05, 0.01652768813073635, 0.00425161886960268, 0.005675913766026497, 0.02343112975358963, 0.052226170897483826], "count": [1602]}, "observation.state.tcp_pose": {"min": [0.36175811290740967, 0.18994063138961792, 0.968413770198822, -1.2141293287277222, 1.210651159286499, -1.3852920532226562, 0.3067167103290558, -0.2625027894973755, 0.8922728300094604, -0.6373944282531738, 1.2197083234786987, 0.5175074934959412], "max": [0.46406322717666626, 0.29255688190460205, 1.0515732765197754, -0.927270770072937, 1.3589884042739868, -1.2268612384796143, 0.4926832318305969, -0.01353042759001255, 1.051259160041809, 1.3495815992355347, 2.0293190479278564, 1.5610095262527466], "mean": [0.4480478763580322, 0.27951574325561523, 0.9888550043106079, -1.0863192081451416, 1.2816665172576904, -1.2910593748092651, 0.36145079135894775, -0.14757539331912994, 0.9293910264968872, -0.04027113690972328, 1.8282040357589722, 0.9142612814903259], "std": [0.011940930970013142, 0.018904326483607292, 0.014547026716172695, 0.043451420962810516, 0.040003784000873566, 0.025923149660229683, 0.03562004864215851, 0.055394548922777176, 0.03063850663602352, 0.3817056119441986, 0.14408697187900543, 0.1777758002281189], "count": [1602]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.18659302592277527, 0.9682402014732361, -1.209031581878662, 1.1300591230392456, -1.4328385591506958, 0.3066972494125366, -0.2627694308757782, 0.89207923412323, -0.6372461318969727, 1.2188429832458496, 0.5165964961051941], "max": [0.46059346199035645, 0.29247334599494934, 1.0518032312393188, -0.8402228355407715, 1.3589591979980469, -1.2288788557052612, 0.49255314469337463, -0.01347278617322445, 1.051689863204956, 1.3379862308502197, 2.0300707817077637, 1.5598875284194946], "mean": [0.44793033599853516, 0.27942898869514465, 0.9898753762245178, -1.0757626295089722, 1.2706302404403687, -1.2981733083724976, 0.36144715547561646, -0.14765697717666626, 0.9294238686561584, -0.04170447587966919, 1.828259825706482, 0.9141572713851929], "std": [0.011991331353783607, 0.018930602818727493, 0.01563424803316593, 0.05808534845709801, 0.05525679141283035, 0.024360038340091705, 0.03565938025712967, 0.055348221212625504, 0.030697420239448547, 0.3800632953643799, 0.1437685489654541, 0.17760109901428223], "count": [1602]}, "subtask_index": {"min": [140], "max": [169], "mean": [151.16229712858927], "std": [8.374497683580126], "count": [1602]}, "observation.tactile": {"min": [-0.03555746376514435, -3.769670729525387e-05, -8.523648284608498e-05, -0.0015205463860183954, -0.0003509431844577193, -0.0005656257853843272, -0.011379793286323547, -2.3250766389537603e-05, -4.87356519442983e-05, -0.001273018540814519, -3.4693879570113495e-05, -0.00022110651480033994, -0.012662404216825962, -3.059617301914841e-05, -6.641638901783153e-05, -0.001137005165219307, -2.1173684217501432e-05, -0.0002822366077452898, -0.005191916599869728, -3.0813098419457674e-05, -6.806512828916311e-05, -0.0008879784145392478, -8.995954704005271e-05, -0.00012487829371821135, -0.002997481497004628, -5.305989907355979e-05, -0.00011521765554789454, -0.0005822982056997716, -4.305422771722078e-05, -6.0102454881416634e-05, -2.3964803218841553, -3.7769670598208904e-05, -8.300024637719616e-05, -0.20320938527584076, -0.01877451315522194, -0.05858895555138588, -6.054349422454834, 0.0, 0.0, -0.35335007309913635, -0.034587714821100235, -0.10702211409807205, -0.0036866164300590754, -4.745996557176113e-05, -0.0001063941017491743, -0.0013180722016841173, -1.6675625374773517e-05, -9.911812230711803e-05, -0.009140064008533955, -3.642853698693216e-05, -7.919252675492316e-05, -0.0011805776739493012, -9.925385529641062e-05, -0.00019442396296653897, -0.005951644852757454, -4.123278267798014e-05, -9.306830179411918e-05, -0.0011850924929603934, -5.5709238949930295e-05, -0.00012074250844307244], "max": [0.0002923957072198391, 0.026202186942100525, 0.08008396625518799, 1.6421668078692164e-06, 8.526791498297825e-05, 6.261549060582183e-06, 0.006796492729336023, 0.02290133573114872, 0.0656866580247879, 9.086444947570271e-07, 0.0002399589284323156, 6.713074253639206e-05, 0.0015056594274938107, 0.02154393307864666, 0.060807324945926666, 1.2438981684681494e-06, 0.0001060479917214252, 1.9340575818205252e-05, 0.005606135353446007, 0.015998098999261856, 0.047643762081861496, 1.2341905630819383e-06, 0.00023055753263179213, 1.9042987332795747e-05, 0.0009278206853196025, 0.010742335580289364, 0.029604626819491386, 2.152085016859928e-06, 3.6781857488676906e-05, 1.0103574823006056e-05, 4.580061912536621, 7.774298191070557, 8.244343757629395, 1.5504811017308384e-06, 0.024703441187739372, 0.09388601779937744, 4.120710849761963, 17.02999496459961, 19.780223846435547, 0.0, 0.014513563364744186, 0.08996959775686264, 0.0067356051877141, 0.021008534356951714, 0.05680769681930542, 1.936585476869368e-06, 0.0001843797363108024, 0.0001077317792805843, 0.005820312071591616, 0.026103351265192032, 0.07553060352802277, 1.4702246744491276e-06, 0.00020128744654357433, 8.371063449885696e-05, 0.006301435176283121, 0.018222937360405922, 0.05148480087518692, 1.739750928209105e-06, 0.00014892131730448455, 9.069763473235071e-05], "mean": [-0.003186417045071721, 0.0030452776700258255, 0.00931551307439804, -0.0001744012115523219, -3.5314787965035066e-05, -5.0373560952721164e-05, -0.0009100585011765361, 0.002621395979076624, 0.007724734954535961, -0.00013381350436247885, 4.888111561740516e-06, -1.7064265193766914e-05, -0.002132175024598837, 0.004543755203485489, 0.013224460184574127, -0.00024014599330257624, 1.829296161304228e-05, -4.413528586155735e-05, -0.00035651997313834727, 0.0014567015459761024, 0.004171373322606087, -8.918150706449524e-05, 2.5836561690084636e-06, -8.95886478247121e-06, 0.00024150183890014887, 0.00029137154342606664, 0.0008600016590207815, -1.6369942386518233e-05, -1.33900175569579e-06, 5.265689196676249e-06, 0.7427378296852112, 1.7457014322280884, 2.2683210372924805, -0.047832898795604706, 0.003582791890949011, 0.015343721024692059, -0.5391456484794617, 2.9743597507476807, 4.90434455871582, -0.09461306780576706, -0.00426948256790638, -0.007017824333161116, 9.769068856257945e-05, 0.0062765502370893955, 0.01808279938995838, -0.00039862649282440543, 4.423730933922343e-05, -1.3823963854520116e-05, -0.0009282926912419498, 0.0029486133717000484, 0.008477210067212582, -0.00015898649871814996, 2.7276212222204776e-06, -1.907578007376287e-05, -0.0011679279850795865, 0.004201809410005808, 0.011825595051050186, -0.00026994384825229645, 3.6056355838809395e-06, -2.9423874366329983e-05], "std": [0.005450001452118158, 0.004211105406284332, 0.012931032106280327, 0.00025214769993908703, 5.424730625236407e-05, 9.02411702554673e-05, 0.0014694712590426207, 0.003386999247595668, 0.009981285780668259, 0.00017701448814477772, 2.093761577270925e-05, 2.7937907361774705e-05, 0.0023953220807015896, 0.004639376886188984, 0.013470876961946487, 0.00025142705999314785, 2.2267446183832362e-05, 5.082786810817197e-05, 0.0008954385994002223, 0.002391683403402567, 0.006771539803594351, 0.00014735940203536302, 1.0211271728621796e-05, 2.0768673493876122e-05, 0.0003077909641433507, 0.0011020232923328876, 0.0031020459719002247, 6.053805191186257e-05, 4.138106305617839e-06, 5.8564305618347134e-06, 1.4511516094207764, 2.2279787063598633, 2.7457640171051025, 0.06087619438767433, 0.007891506887972355, 0.029392564669251442, 1.5940008163452148, 3.4319093227386475, 5.806910514831543, 0.1088457927107811, 0.008929622359573841, 0.030476713553071022, 0.0008035623468458652, 0.0037818681448698044, 0.010718690231442451, 0.0002434281341265887, 2.795705950120464e-05, 1.590446481714025e-05, 0.0015120600583031774, 0.003586588427424431, 0.010267001576721668, 0.00019505688396748155, 2.1598802049993537e-05, 3.104171992163174e-05, 0.001496296375989914, 0.0034616326447576284, 0.009784559719264507, 0.00022573955357074738, 3.000841934408527e-05, 2.8572812880156562e-05], "count": [1602]}, "timestamp": {"min": [0.0], "max": [53.36666666666667], "mean": [26.68333333333333], "std": [15.415249184084162], "count": [1602]}, "frame_index": {"min": [0], "max": [1601], "mean": [800.5], "std": [462.4574755225248], "count": [1602]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1602]}, "index": {"min": [8230], "max": [9831], "mean": [9030.5], "std": [462.4574755225248], "count": [1602]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1602]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5490200519561768]], [[0.5487642288208008]], [[0.5505775809288025]]], "std": [[[0.30159199237823486]], [[0.30165672302246094]], [[0.3025659918785095]]], "count": [1602]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2585465908050537]], [[0.26007241010665894]], [[0.2592437267303467]]], "std": [[[0.15792907774448395]], [[0.1602804958820343]], [[0.1591559201478958]]], "count": [1602]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.193050354719162]], [[0.1938508152961731]], [[0.19213493168354034]]], "std": [[[0.12977732717990875]], [[0.13058148324489594]], [[0.13286906480789185]]], "count": [1602]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5489543080329895]], [[0.5488593578338623]], [[0.5505375266075134]]], "std": [[[0.3005503714084625]], [[0.30065953731536865]], [[0.30199649930000305]]], "count": [1602]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6000000238418579]], [[0.6000000238418579]], [[0.6000000238418579]]], "mean": [[[0.001973134931176901]], [[0.001973134931176901]], [[0.001973134931176901]]], "std": [[[0.026534290984272957]], [[0.026534290984272957]], [[0.026534290984272957]]], "count": [1602]}, "observation.images.tactile_raw": {"min": [[[0.0235294122248888]], [[0.0235294122248888]], [[0.0235294122248888]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46944287419319153]], [[0.46944287419319153]], [[0.46944287419319153]]], "std": [[[0.23615017533302307]], [[0.23615017533302307]], [[0.23615017533302307]]], "count": [1602]}}}
+{"episode_index": 5, "stats": {"observation.state": {"min": [1.0500004291534424, -0.7800000905990601, -0.1524430513381958, 1.0600297451019287, -0.11251544952392578, -0.7700001001358032, 0.49142536520957947, 0.006289005279541016, -0.002414389280602336, -0.27559736371040344, -0.30477502942085266, 0.0030538500286638737, -0.06805309653282166, 6.010220749885775e-05, 0.0034456420689821243, 0.0008602404268458486, -0.16711415350437164, 0.0009400438284501433, 0.0034385507460683584, 0.0008469377062283456, -0.11245546489953995, -0.03253234177827835, 0.00594779197126627, 0.0008021520334295928, 0.005562600679695606, -0.14056283235549927, -0.03829281032085419, 0.003514427226036787, 0.000854919315315783, 0.9808952808380127, -0.7895008325576782, -0.22952666878700256, 1.0122394561767578, -0.9969351887702942, -0.7699756622314453, -0.1040133684873581, 0.006313216406852007, -0.290175199508667, 0.003237101249396801, -0.18465343117713928, 0.0034839347936213017, 0.005092232022434473, -0.11393199861049652, 0.003130790311843157, 0.0007662347052246332, 0.0036956581752747297, -0.0644347220659256, 0.0025670351460576057, 0.0008686654036864638, -6.967004446778446e-05, -0.033717699348926544, 0.0034871259704232216, 0.0008433902985416353, 0.0059008304961025715, -0.05137664079666138, -0.037347860634326935, 0.0034885441418737173, 0.000854919315315783, 0.5623956918716431, -1.1070547103881836, 0.5441796779632568, -0.006998787168413401, -0.04908738657832146, 0.0, -0.8729309439659119], "max": [1.2048929929733276, -0.6397377252578735, 2.396844820395927e-07, 1.5699994564056396, 1.1984224101979635e-07, -0.040502965450286865, 0.6981757879257202, 1.0527509450912476, 0.03318006917834282, 0.0017805856186896563, -0.005315808579325676, 0.4796065390110016, 0.7201946377754211, 0.08423451334238052, 0.2363767921924591, 0.29453790187835693, 0.5489675402641296, 0.1277409940958023, 0.15306372940540314, 0.022301068529486656, 0.2128409743309021, 0.09093232452869415, 0.1414383202791214, 0.3321632146835327, 0.005967192351818085, 0.1107659861445427, 0.002752176718786359, 0.0889938622713089, 0.07776351273059845, 1.3153572082519531, -0.2796763777732849, -6.591323472093791e-05, 1.5699220895767212, 0.23791851103305817, -0.10167644172906876, 0.5251039266586304, 1.5251760482788086, -0.0002934193180408329, 0.7484651207923889, 0.31629592180252075, 0.5497015118598938, 1.079202651977539, 0.26231956481933594, 0.3982510566711426, 0.8469665050506592, 1.4688462018966675, 0.2624977231025696, 1.6556763648986816, 1.30827796459198, 1.469286322593689, 0.21833644807338715, 1.654844880104065, 1.308183193206787, 0.07815255969762802, 1.4685797691345215, 0.31458136439323425, 1.662290334701538, 1.3081685304641724, 0.5637379288673401, -1.1060001850128174, 0.6526129245758057, 0.0036432044580578804, 0.0, 0.10124272853136063, -0.5997864603996277], "mean": [1.1580862998962402, -0.6948009729385376, -0.14076007902622223, 1.0860573053359985, -0.11024632304906845, -0.17926745116710663, 0.5834360718727112, 1.009989857673645, 0.027310099452733994, -0.2668861448764801, -0.2868860065937042, 0.4694705009460449, 0.5308586955070496, 0.07330531626939774, 0.1484629511833191, 0.28190240263938904, 0.3775709271430969, 0.09978123754262924, 0.06669783592224121, 0.018216760829091072, 0.17780877649784088, 0.0553341805934906, 0.0473446398973465, 0.3191708028316498, 0.00576319545507431, 0.0655665397644043, -0.0213597621768713, 0.028417225927114487, 0.02549947053194046, 1.0390554666519165, -0.5595990419387817, -0.2220488041639328, 1.2907893657684326, -0.9038154482841492, -0.4421752393245697, 0.15854564309120178, 1.3844598531723022, -0.18253664672374725, 0.49847474694252014, -0.0020373514853417873, 0.07699819654226303, 0.8822616934776306, 0.19615119695663452, 0.08600897341966629, 0.4947777986526489, 1.3912837505340576, 0.18627357482910156, 1.55610191822052, 1.1741321086883545, 1.385366678237915, 0.16692838072776794, 1.559213399887085, 1.200816035270691, 0.07176029682159424, 1.3780657052993774, 0.28900742530822754, 1.5738173723220825, 1.2421109676361084, 0.562685489654541, -1.1067801713943481, 0.6283435821533203, -0.0014348917175084352, -0.03152855858206749, 0.0836811289191246, -0.8615097403526306], "std": [0.017417268827557564, 0.013969248160719872, 0.01713142730295658, 0.06057661026716232, 0.013118993490934372, 0.1247890517115593, 0.07429170608520508, 0.13446107506752014, 0.005632034968584776, 0.03617314249277115, 0.038297683000564575, 0.06273233145475388, 0.1856573522090912, 0.0126066654920578, 0.09313549101352692, 0.03829222545027733, 0.17506958544254303, 0.02099403366446495, 0.066944420337677, 0.005268402397632599, 0.06597983092069626, 0.024659138172864914, 0.0451529286801815, 0.04394408315420151, 7.852190174162388e-05, 0.053572457283735275, 0.01405898667871952, 0.027265654876828194, 0.023850547149777412, 0.05276501551270485, 0.14550058543682098, 0.027223382145166397, 0.13344261050224304, 0.221735417842865, 0.10645952820777893, 0.14542825520038605, 0.1828736662864685, 0.04528414085507393, 0.16330818831920624, 0.0932454913854599, 0.12483575195074081, 0.1811213344335556, 0.06340981274843216, 0.04928411543369293, 0.20267254114151, 0.30179542303085327, 0.05640178918838501, 0.38239675760269165, 0.3046885132789612, 0.3216106593608856, 0.04823331534862518, 0.3773318827152252, 0.30257609486579895, 0.016655443236231804, 0.34243059158325195, 0.07131288200616837, 0.34296897053718567, 0.2698289752006531, 7.863368227845058e-05, 7.059958443278447e-05, 0.01258846279233694, 0.0034376210533082485, 0.007016113493591547, 0.014834092929959297, 0.045742765069007874], "count": [1671]}, "observation.state.joint_torque": {"min": [-46.32149887084961, -0.20999999344348907, -19.950000762939453, -5.934999942779541, -0.7103999853134155, -0.3416000008583069, 0.8040000200271606, -0.8303399682044983, -0.4202640950679779, -0.27463439106941223, -0.27463439106941223, -0.11621791869401932, -0.37515050172805786, -0.21108214557170868, -0.10459613054990768, -0.032821137458086014, -0.2580958902835846, -0.24466337263584137, -0.06474998593330383, -0.03139413148164749, -0.4499887526035309, -0.43175891041755676, -0.10127562284469604, -0.04780469834804535, -0.002638806588947773, -0.38666409254074097, -0.32525837421417236, -0.08467306196689606, -0.039956167340278625, 12.482999801635742, -5.371500015258789, 2.6070001125335693, -8.868000030517578, -1.6912000179290771, -2.0383999347686768, -3.5999999046325684, -1.6288416385650635, -0.9156662821769714, -0.47719278931617737, -1.9584786891937256, -0.11621791869401932, -0.7052062153816223, -0.9153289198875427, -0.12783971428871155, -0.21262387931346893, -0.3885830342769623, -0.34156927466392517, -0.12451920658349991, -0.03496164828538895, -0.4384751617908478, -0.5430567264556885, -0.1062563955783844, -0.04209667816758156, -0.12798210978507996, -1.5380210876464844, -0.756057858467102, -0.25235894322395325, -0.09418238699436188, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-7.426499843597412, 10.816499710083008, -1.2769999504089355, 0.23199999332427979, 1.8600000143051147, 1.423200011253357, 3.416800022125244, 0.8125104904174805, 0.34130534529685974, 0.25599405169487, 0.44239750504493713, 0.1411217600107193, 0.3386908769607544, 0.22067677974700928, 0.13780125975608826, 0.019978083670139313, 0.3367719352245331, 0.17558196187019348, 0.12949997186660767, 0.016410568729043007, 0.37035322189331055, 0.5766379833221436, 0.12617947161197662, 0.022832093760371208, 0.001759204315021634, 0.3972181975841522, 0.30415016412734985, 0.07139100879430771, 0.027113113552331924, 48.08700180053711, 9.790499687194824, 20.0939998626709, 4.986000061035156, 0.2168000042438507, 2.4463999271392822, 3.60479998588562, 2.4298906326293945, 2.6247403621673584, 2.2902770042419434, 1.9796044826507568, 0.31544867157936096, 2.1405646800994873, 1.4862101078033447, 1.0559228658676147, 0.21333740651607513, 1.4276827573776245, 0.296474426984787, 0.2722820043563843, 0.1669597029685974, 1.4094529151916504, 0.4499887228012085, 0.6807050108909607, 0.14484110474586487, 0.12094529718160629, 0.7982742786407471, 0.42024531960487366, 0.3005063533782959, 0.17552173137664795, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.09967613220215, 4.61674690246582, -12.193366050720215, -1.7349897623062134, 0.2528620660305023, 0.1907959133386612, 2.1437439918518066, 0.046653423458337784, -0.009453531354665756, 0.0006834444939158857, -0.011471238918602467, 0.00018082873430103064, 0.038713958114385605, 0.006794882472604513, 0.007019591983407736, 0.0005324574303813279, 0.05708618462085724, -0.02628682367503643, 0.003271829104050994, 0.001263467245735228, 0.011136365123093128, 0.04430706799030304, 0.006821859627962112, 0.0014227351639419794, -4.026901660836302e-05, 0.046191032975912094, 0.013724164105951786, 0.0037159540224820375, 0.0020986651070415974, 22.88905143737793, 1.243804931640625, 10.173900604248047, -4.682976722717285, -0.6236220598220825, 0.9506420493125916, -1.1431480646133423, 0.11361823230981827, 0.35223355889320374, 0.2281477451324463, 0.0854414775967598, 0.005974335130304098, 0.39642849564552307, -0.031481415033340454, 0.18436650931835175, 0.041258566081523895, 0.007970818318426609, -0.02018260583281517, 0.0005275849835015833, 0.0012634709710255265, 0.008294695988297462, -0.014625645242631435, 0.0004173007619101554, 0.000649882887955755, 1.263657850358868e-05, 0.0025402025785297155, -0.009560206905007362, -0.0007173556368798018, 0.0019897869788110256, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.2303742170333862, 0.8123825192451477, 0.6516004204750061, 0.6205155849456787, 0.22727718949317932, 0.2888522148132324, 0.2264193743467331, 0.10354726761579514, 0.06756167113780975, 0.03587251529097557, 0.04720795154571533, 0.00993156898766756, 0.0647139772772789, 0.038504138588905334, 0.016838526353240013, 0.004453592002391815, 0.06712494790554047, 0.04497849568724632, 0.013233809731900692, 0.0062586460262537, 0.07737430930137634, 0.10670484602451324, 0.01783723197877407, 0.006777997128665447, 0.0003537338343448937, 0.07324612885713577, 0.053220830857753754, 0.011854252777993679, 0.007834124378859997, 3.014354944229126, 2.779665231704712, 1.9634122848510742, 1.6854273080825806, 0.28897351026535034, 0.6382049918174744, 0.9477330446243286, 0.5227856040000916, 0.5722243189811707, 0.40200239419937134, 0.4479621946811676, 0.03780728206038475, 0.6584984064102173, 0.26410168409347534, 0.30180925130844116, 0.08180096000432968, 0.06040394306182861, 0.06665904819965363, 0.010397674515843391, 0.008769262582063675, 0.06000024825334549, 0.060726962983608246, 0.018899424001574516, 0.009115858003497124, 0.014410941861569881, 0.06472590565681458, 0.06524712592363358, 0.02143663540482521, 0.007228321395814419, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1671]}, "observation.state.tcp": {"min": [0.3617662489414215, 0.18580502271652222, 0.9704816341400146, -1.2088552713394165, 1.2066893577575684, -1.4636237621307373, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.32011356949806213, -0.22576647996902466, 0.8871809840202332, 0.10223554819822311, 1.218002200126648, 0.6932856440544128, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4679757058620453, 0.2573390603065491, 1.051814079284668, -0.8274893164634705, 1.59489905834198, -1.228865385055542, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.47339949011802673, -0.025743912905454636, 1.0518008470535278, 1.3665865659713745, 2.0986135005950928, 1.4975111484527588, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4582216441631317, 0.24673140048980713, 0.98736172914505, -0.9796001315116882, 1.4586288928985596, -1.4025458097457886, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3500129282474518, -0.13712908327579498, 0.9174820184707642, 0.3271887004375458, 1.9281059503555298, 1.0238356590270996, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.011670781299471855, 0.00922931358218193, 0.012846899218857288, 0.06151221692562103, 0.11046496033668518, 0.04197407886385918, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.026825206354260445, 0.05574489384889603, 0.03130500763654709, 0.21502651274204254, 0.15287253260612488, 0.13904015719890594, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1671]}, "action": {"min": [1.0500520467758179, -0.779965877532959, -0.15248002111911774, 1.0600064992904663, -0.11246168613433838, -0.7694007754325867, 0.4913453757762909, 0.0, 0.0, -0.27475568652153015, -0.3080318570137024, 0.0, -0.10353197157382965, 0.0, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.1410530060529709, -0.03987295180559158, 0.0, 0.0, 0.0, -0.14998073875904083, -0.15175765752792358, 0.0, 0.0, 0.9808998107910156, -0.7895327806472778, -0.2295253872871399, 1.0122414827346802, -0.9969109892845154, -0.7686141729354858, -0.1041090339422226, 0.0, -0.29047855734825134, 0.0, -0.1858883500099182, -0.14040187001228333, 0.0, -0.11791414767503738, 0.0, 0.0, 0.0, -0.07735944539308548, 0.0, 0.0, 0.0, -0.09183651953935623, 0.0, 0.0, 0.0, -0.05884745344519615, -0.11954409629106522, 0.0, 0.0, 0.5626833438873291, -1.1069231033325195, 0.5442397594451904, -0.007437415421009064, -0.053154099732637405, 0.0, -0.8727390766143799], "max": [1.2049314975738525, -0.6397756338119507, -0.00010993827891070396, 1.5696055889129639, -9.496291022514924e-05, -0.040382660925388336, 0.8264294266700745, 1.062569260597229, 0.033278875052928925, 0.0, 0.0, 0.4822549521923065, 0.7298295497894287, 0.08716004341840744, 0.24067643284797668, 0.2963842451572418, 0.5563651323318481, 0.12924855947494507, 0.1569615602493286, 0.02455315552651882, 0.21698738634586334, 0.0975143238902092, 0.14497792720794678, 0.33420661091804504, 0.017257284373044968, 0.11923294514417648, 0.0, 0.09476159512996674, 0.081224225461483, 1.3154962062835693, -0.2796441912651062, -0.0008840146474540234, 1.5681532621383667, 0.23786653578281403, -0.1003008708357811, 0.5259582996368408, 1.5313485860824585, 0.0, 0.7479562759399414, 0.3490658402442932, 0.5546831488609314, 1.0946871042251587, 0.26030808687210083, 0.44763508439064026, 0.8838601112365723, 1.5707963705062866, 0.26692330837249756, 1.7453292608261108, 1.3962633609771729, 1.5707963705062866, 0.2343263030052185, 1.7453292608261108, 1.3962633609771729, 0.08523371815681458, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106767177581787, 0.653022050857544, 0.004081301856786013, 0.0, 0.10148743540048599, -0.6000000238418579], "mean": [1.158041000366211, -0.6947569847106934, -0.1407676488161087, 1.085957646369934, -0.11025037616491318, -0.17945502698421478, 0.5923131704330444, 1.0181546211242676, 0.02582690864801407, -0.2667515277862549, -0.2934742569923401, 0.4718639850616455, 0.5361713171005249, 0.07305828481912613, 0.15127180516719818, 0.28500646352767944, 0.38305410742759705, 0.09992438554763794, 0.06651262193918228, 0.02011367306113243, 0.1815090924501419, 0.058094706386327744, 0.04678305983543396, 0.321715772151947, 0.01343049481511116, 0.07061290740966797, -0.031235946342349052, 0.03309580683708191, 0.028032416477799416, 1.0391265153884888, -0.5597608685493469, -0.22207318246364594, 1.2907294034957886, -0.9045080542564392, -0.4419853091239929, 0.15871486067771912, 1.3852717876434326, -0.18016397953033447, 0.4975278079509735, -0.001970354001969099, 0.04925806075334549, 0.8838480710983276, 0.19935837388038635, 0.08693452924489975, 0.5036201477050781, 1.4886616468429565, 0.18489401042461395, 1.6350412368774414, 1.1901121139526367, 1.4821995496749878, 0.16549421846866608, 1.6462657451629639, 1.2393522262573242, 0.07708843052387238, 1.478859543800354, 0.30270442366600037, 1.6551107168197632, 1.3240598440170288, 0.5626831650733948, -1.106785535812378, 0.6283966302871704, -0.0014378814958035946, -0.03158223628997803, 0.0837237685918808, -0.861457347869873], "std": [0.017289383336901665, 0.014035031199455261, 0.017106812447309494, 0.060536939650774, 0.013108770363032818, 0.12512396275997162, 0.09017004072666168, 0.14762583374977112, 0.005568675231188536, 0.039684128016233444, 0.04377463459968567, 0.07001812756061554, 0.19296985864639282, 0.013326453976333141, 0.09447474777698517, 0.042512621730566025, 0.18083591759204865, 0.022157462313771248, 0.07050353288650513, 0.005548612680286169, 0.06966836750507355, 0.027892494574189186, 0.04953775182366371, 0.04822170361876488, 0.005075359717011452, 0.05697479099035263, 0.03459462150931358, 0.027757840231060982, 0.02412617765367031, 0.05279039591550827, 0.14547333121299744, 0.027155013754963875, 0.13342277705669403, 0.21971295773983002, 0.10705788433551788, 0.14546853303909302, 0.19594517350196838, 0.04828907549381256, 0.16791416704654694, 0.09788990020751953, 0.14673246443271637, 0.18686224520206451, 0.06761987507343292, 0.050094131380319595, 0.2091025561094284, 0.33188891410827637, 0.05826793611049652, 0.4023516774177551, 0.31022682785987854, 0.35119420289993286, 0.05435704439878464, 0.40089941024780273, 0.3172646462917328, 0.019152194261550903, 0.36777573823928833, 0.08573848009109497, 0.37128159403800964, 0.2970285713672638, 1.7964430298889056e-07, 2.2712409190717153e-05, 0.012748580425977707, 0.0034895006101578474, 0.007203938439488411, 0.014902983792126179, 0.0459023043513298], "count": [1671]}, "observation.state.tcp_pose": {"min": [0.3617662489414215, 0.18580502271652222, 0.9704816341400146, -1.2088552713394165, 1.2066893577575684, -1.4636237621307373, 0.32011356949806213, -0.22576647996902466, 0.8871809840202332, 0.10223554819822311, 1.218002200126648, 0.6932856440544128], "max": [0.4679757058620453, 0.2573390603065491, 1.051814079284668, -0.8274893164634705, 1.59489905834198, -1.228865385055542, 0.47339949011802673, -0.025743912905454636, 1.0518008470535278, 1.3665865659713745, 2.0986135005950928, 1.4975111484527588], "mean": [0.4582216441631317, 0.24673140048980713, 0.98736172914505, -0.9796001315116882, 1.4586288928985596, -1.4025458097457886, 0.3500129282474518, -0.13712908327579498, 0.9174820184707642, 0.3271887004375458, 1.9281059503555298, 1.0238356590270996], "std": [0.011670781299471855, 0.00922931358218193, 0.012846899218857288, 0.06151221692562103, 0.11046496033668518, 0.04197407886385918, 0.026825206354260445, 0.05574489384889603, 0.03130500763654709, 0.21502651274204254, 0.15287253260612488, 0.13904015719890594], "count": [1671]}, "action.tcp_pose": {"min": [0.36181309819221497, 0.17979177832603455, 0.971838653087616, -1.2086877822875977, 1.1345821619033813, -1.4647527933120728, 0.32014310359954834, -0.22589759528636932, 0.8871727585792542, 0.10477647185325623, 1.219029188156128, 0.6935710310935974], "max": [0.464962363243103, 0.25629764795303345, 1.0517538785934448, -0.734864354133606, 1.5950794219970703, -1.2291730642318726, 0.4729393422603607, -0.02570744976401329, 1.0513769388198853, 1.3636524677276611, 2.0990169048309326, 1.498110294342041], "mean": [0.4581091105937958, 0.246653750538826, 0.9879102110862732, -0.9734401106834412, 1.451855182647705, -1.4069499969482422, 0.3500261604785919, -0.1372176855802536, 0.917486846446991, 0.3263759911060333, 1.9282480478286743, 1.0238010883331299], "std": [0.01162409782409668, 0.009301295503973961, 0.013567311689257622, 0.072479248046875, 0.12210781127214432, 0.03479982912540436, 0.02683420665562153, 0.05572323128581047, 0.03131835162639618, 0.21366927027702332, 0.15216471254825592, 0.13899599015712738], "count": [1671]}, "subtask_index": {"min": [64], "max": [198], "mean": [182.94195092758827], "std": [15.49721252980295], "count": [1671]}, "observation.tactile": {"min": [-0.03614189848303795, -3.616374669945799e-05, -8.039761451072991e-05, -0.0016782160382717848, -0.0003696199564728886, -0.0006954263662919402, -0.012644603848457336, -2.1943531464785337e-05, -4.38872302765958e-05, -0.0017987386090680957, -3.904609911842272e-05, -0.00023792569118086249, -0.015289594419300556, -3.261328674852848e-05, -7.12703331373632e-05, -0.0011431050952523947, -6.537709123222157e-05, -0.0003264634869992733, -0.0053654867224395275, -2.9430077120196074e-05, -6.56898264423944e-05, -0.0008703082567080855, -0.00011345730308676139, -8.824587712297216e-05, -0.001700124703347683, -5.3137973736738786e-05, -0.0001203941137646325, -0.0005359195638448, -1.6516931282239966e-05, -4.254383748047985e-05, -6.986436367034912, -3.5749275411944836e-05, -7.946210826048627e-05, -0.2203046679496765, -0.02997688204050064, -0.13545896112918854, -5.615863800048828, 0.0, 0.0, -0.2835814654827118, -0.023861637338995934, -0.10550430417060852, -0.005849242210388184, -5.053684435551986e-05, -0.00011355060269124806, -0.001322997617535293, -3.7904828786849976e-05, -0.00013335964467842132, -0.01508006639778614, -3.9921407733345404e-05, -8.867308497428894e-05, -0.0017527572344988585, -0.00010051076242234558, -0.0003579084004741162, -0.008467279374599457, -3.9326241676462814e-05, -8.714864088688046e-05, -0.0011571856448426843, -7.907978579169139e-05, -0.00014391611330211163], "max": [0.0002806137490551919, 0.03342832624912262, 0.09691821038722992, 1.5182720289885765e-06, 2.9783675927319564e-05, 5.95952451476478e-06, 0.01570168323814869, 0.033837299793958664, 0.09726856648921967, 7.779710244903981e-07, 0.000333728501573205, 0.00019125675316900015, 0.003360222326591611, 0.022280815988779068, 0.06655634939670563, 1.3677524748345604e-06, 0.00014010116865392774, 2.120214958267752e-05, 0.011655907146632671, 0.014526375569403172, 0.04034380242228508, 1.1589797850319883e-06, 0.00013371660315897316, 0.0001514975301688537, 0.0012525764759629965, 0.009918302297592163, 0.02681073173880577, 2.3006537048786413e-06, 8.909769530873746e-05, 1.2901608897664119e-05, 4.771943092346191, 8.834229469299316, 10.337427139282227, 1.468188315811858e-06, 0.021479003131389618, 0.11063173413276672, 5.331740379333496, 9.34345817565918, 14.53696060180664, 0.0, 0.013708910904824734, 0.10641792416572571, 0.004721396137028933, 0.02236349508166313, 0.06350164115428925, 2.0514944480964914e-06, 0.00015782298578415066, 6.54027026030235e-05, 0.005982771050184965, 0.03690513223409653, 0.10301660746335983, 1.619453996681841e-06, 0.0001667896140133962, 5.4486521548824385e-05, 0.0006801172276027501, 0.018829859793186188, 0.05466793477535248, 1.6536130260647042e-06, 0.00010324774484615773, 6.871269306429895e-06], "mean": [-0.008826442062854767, 0.007986094802618027, 0.0236679520457983, -0.0004566383140627295, -9.239442442776635e-05, -0.00014119234401732683, -0.0011109885526821017, 0.005210552830249071, 0.015570282936096191, -0.00027789207524619997, 2.9351896955631673e-05, -3.056704008486122e-05, -0.0019723321311175823, 0.003334607230499387, 0.009864596650004387, -0.0001646877353778109, 6.65908919472713e-06, -3.624269811552949e-05, -0.0005575591931119561, 0.0025022344198077917, 0.007103832438588142, -0.0001374287239741534, 1.5862797226873226e-05, -1.650626290938817e-05, 9.345036960439757e-05, 0.0010112074669450521, 0.0029586844611912966, -6.0338559705996886e-05, 2.854694685083814e-06, 8.693083941579971e-07, 0.39432084560394287, 1.099155306816101, 1.5534274578094482, -0.03287103772163391, 0.000850793207064271, 0.007387432269752026, -0.19486188888549805, 1.7786686420440674, 3.35758638381958, -0.06973022222518921, -0.001962238224223256, -0.0032117983791977167, -0.00023092493938747793, 0.005477103404700756, 0.015765726566314697, -0.00035392396966926754, 2.9614226150442846e-05, -1.599829010956455e-05, -0.0022629755549132824, 0.006655330304056406, 0.019274376332759857, -0.00034578467602841556, 6.6099946707254276e-06, -4.822474511456676e-05, -0.0012697339989244938, 0.0033153523690998554, 0.009492982178926468, -0.00018763335538096726, -8.107481335173361e-06, -2.1712427042075433e-05], "std": [0.007912731729447842, 0.006752640474587679, 0.019831372424960136, 0.0003802057181019336, 7.785647176206112e-05, 0.00013300060527399182, 0.0021841619163751602, 0.004515212029218674, 0.013377009890973568, 0.00024446379393339157, 4.442680801730603e-05, 3.49070796801243e-05, 0.0022136562038213015, 0.003201076528057456, 0.009486189112067223, 0.00016772856179159135, 2.2554077077074908e-05, 4.5216918806545436e-05, 0.0008483711280860007, 0.0028023449704051018, 0.007952706888318062, 0.00016246455197688192, 2.1716788978665136e-05, 1.9996028640889563e-05, 0.00035233196103945374, 0.0015961144817993045, 0.004579063970595598, 9.403746662428603e-05, 9.944213161361404e-06, 8.601884474046528e-06, 1.6754752397537231, 1.5880547761917114, 2.093355655670166, 0.044022299349308014, 0.00711084296926856, 0.032759889960289, 1.1112143993377686, 2.442859411239624, 4.650302886962891, 0.09393856674432755, 0.004969700705260038, 0.02142678201198578, 0.0009635807946324348, 0.004115161020308733, 0.011690590530633926, 0.0002654772833921015, 2.983845661219675e-05, 1.8659548004507087e-05, 0.002948492532595992, 0.006384155247360468, 0.018411636352539062, 0.00034194058389402926, 3.191390715073794e-05, 6.450598448282108e-05, 0.0013934388989582658, 0.003278858959674835, 0.009466502815485, 0.00019457742746453732, 1.587067890795879e-05, 2.454677814966999e-05], "count": [1671]}, "timestamp": {"min": [0.0], "max": [55.666666666666664], "mean": [27.833333333333332], "std": [16.079202117665563], "count": [1671]}, "frame_index": {"min": [0], "max": [1670], "mean": [835.0], "std": [482.37606352996687], "count": [1671]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [1671]}, "index": {"min": [9832], "max": [11502], "mean": [10667.0], "std": [482.37606352996687], "count": [1671]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1671]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5498299598693848]], [[0.5492166876792908]], [[0.5515239834785461]]], "std": [[[0.3013190031051636]], [[0.30148929357528687]], [[0.30263128876686096]]], "count": [1671]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25778821110725403]], [[0.25890666246414185]], [[0.25830045342445374]]], "std": [[[0.1583496779203415]], [[0.16048255562782288]], [[0.15950262546539307]]], "count": [1671]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.19736027717590332]], [[0.1982582062482834]], [[0.19691616296768188]]], "std": [[[0.13646282255649567]], [[0.13775235414505005]], [[0.14178527891635895]]], "count": [1671]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5483555197715759]], [[0.548011839389801]], [[0.5502297878265381]]], "std": [[[0.29978296160697937]], [[0.3002176880836487]], [[0.30166858434677124]]], "count": [1671]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.529411792755127]], [[0.529411792755127]], [[0.529411792755127]]], "mean": [[[0.0012728333240374923]], [[0.0012728333240374923]], [[0.0012728333240374923]]], "std": [[[0.020616736263036728]], [[0.020616736263036728]], [[0.020616736263036728]]], "count": [1671]}, "observation.images.tactile_raw": {"min": [[[0.027450980618596077]], [[0.027450980618596077]], [[0.027450980618596077]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4692933261394501]], [[0.4692933261394501]], [[0.4692933261394501]]], "std": [[[0.23591622710227966]], [[0.23591622710227966]], [[0.23591622710227966]]], "count": [1671]}}}
+{"episode_index": 6, "stats": {"observation.state": {"min": [1.0499871969223022, -0.8352053165435791, -0.17035767436027527, 1.1873699426651, -3.079945963690989e-05, -0.7700399160385132, 0.40695229172706604, 0.006268950179219246, -0.03328341990709305, -0.2770894765853882, -0.31444600224494934, 0.0030471133068203926, 0.0035798700992017984, -0.03572927787899971, 0.0034428054932504892, 0.0008389560971409082, -0.1381317526102066, -0.040909577161073685, 0.0034279138781130314, 0.0008456074283458292, -0.11627548933029175, -0.03907707333564758, 0.0031002976465970278, 0.0007640176918357611, 0.005535841919481754, -0.14351150393486023, -0.03837694972753525, 0.003531800815835595, 0.0008473811321891844, 0.9630212783813477, -0.7798604369163513, -0.22917912900447845, 1.0003873109817505, -1.19709312915802, -0.8490220904350281, -0.09655893594026566, 0.006993284448981285, -0.28367939591407776, 0.0032808533869683743, -0.18370012938976288, 0.0034839347936213017, 0.00512338662520051, -0.1607612520456314, 0.0031254717614501715, 0.0007436201558448374, 0.0036814301274716854, -0.06620711088180542, 0.002648229943588376, 0.0008402863750234246, -0.00023770926054567099, -0.03380012512207031, 0.0035268368665128946, 0.0008793076267465949, 0.005597922019660473, -0.05012676864862442, -0.03736576437950134, 0.003489607712253928, 0.0008558061672374606, 0.5622998476028442, -1.1070547103881836, 0.5441796779632568, -0.006423544604331255, -0.0409381128847599, 0.0, -0.8729309439659119], "max": [1.2395061254501343, -0.6762968301773071, 4.434163201949559e-06, 1.5700024366378784, 0.03232600912451744, -0.079787977039814, 0.6981657147407532, 1.040934681892395, 0.013391632586717606, 0.0002903560525737703, -0.0038456558249890804, 0.4796033799648285, 0.8580184578895569, 0.02340959571301937, 0.21497324109077454, 0.29061803221702576, 0.46180790662765503, 0.04490867629647255, 0.05616169422864914, 0.02245316095650196, 0.14875361323356628, 0.01665658690035343, 0.05735444277524948, 0.3319348394870758, 0.005887986626476049, 0.07198818773031235, -0.006458632182329893, 0.05679919943213463, 0.05463723838329315, 1.3542882204055786, -0.19552423059940338, -0.000331243994878605, 1.5696425437927246, 0.22268271446228027, -0.105570949614048, 0.5832840800285339, 1.5080028772354126, 0.00018555497808847576, 0.7669875025749207, 0.3151884377002716, 0.32536107301712036, 1.0736503601074219, 0.2531813979148865, 0.6971138715744019, 0.7853685021400452, 1.468846321105957, 0.24098709225654602, 1.6556848287582397, 1.3082629442214966, 1.4686774015426636, 0.19738125801086426, 1.6548175811767578, 1.3082096576690674, 0.07814078778028488, 1.4686108827590942, 0.31047186255455017, 1.6552884578704834, 1.308212399482727, 0.5636420845985413, -1.106191873550415, 0.6584612727165222, 0.007574030198156834, 0.018216021358966827, 0.12473181635141373, -0.5998823642730713], "mean": [1.1874529123306274, -0.8186455368995667, -0.15427112579345703, 1.2467585802078247, 0.03136138617992401, -0.259889155626297, 0.5445046424865723, 0.988307774066925, 0.003389043966308236, -0.2583385109901428, -0.2966299057006836, 0.463393896818161, 0.6076218485832214, 1.7785838281270117e-05, 0.08710229396820068, 0.27451157569885254, 0.3042030334472656, 0.02783619426190853, 0.008259343914687634, 0.02037505805492401, 0.11600711941719055, -0.009852440096437931, 0.026565304026007652, 0.3160933256149292, 0.005687179509550333, 0.026708833873271942, -0.034120120108127594, 0.017796918749809265, 0.0150901535525918, 1.0554345846176147, -0.5455105900764465, -0.21821412444114685, 1.3085987567901611, -1.0209906101226807, -0.41803714632987976, 0.14228864014148712, 1.3464967012405396, -0.19351884722709656, 0.5300354957580566, -0.016769427806138992, 0.03441737964749336, 0.8602041602134705, 0.17663262784481049, 0.05794430524110794, 0.45952308177948, 1.3534842729568481, 0.16639013588428497, 1.5016940832138062, 1.1353453397750854, 1.3435989618301392, 0.14068789780139923, 1.503830909729004, 1.1369765996932983, 0.06981948018074036, 1.3331913948059082, 0.2725251317024231, 1.5304428339004517, 1.2093185186386108, 0.562686026096344, -1.106772780418396, 0.6414310336112976, 0.0013810409000143409, 0.001162540982477367, 0.10021355748176575, -0.852864146232605], "std": [0.025208082050085068, 0.027812998741865158, 0.024003876373171806, 0.05124734342098236, 0.004787362180650234, 0.12859201431274414, 0.10056079924106598, 0.16749843955039978, 0.0063264863565564156, 0.04515634477138519, 0.05115419626235962, 0.07959125190973282, 0.258569598197937, 0.013871077448129654, 0.0986299067735672, 0.047643717378377914, 0.1592603623867035, 0.013027691282331944, 0.00868914183229208, 0.004990934394299984, 0.058507174253463745, 0.012913130223751068, 0.020023364573717117, 0.05487344413995743, 6.0796115576522425e-05, 0.05004066228866577, 0.00467061810195446, 0.02087017334997654, 0.01960155740380287, 0.059853117913007736, 0.13166528940200806, 0.034840717911720276, 0.15488164126873016, 0.3150264024734497, 0.16134577989578247, 0.17437930405139923, 0.22425326704978943, 0.04688093438744545, 0.20209632813930511, 0.0886894166469574, 0.07015447318553925, 0.22441554069519043, 0.08180580288171768, 0.06507904827594757, 0.2368118166923523, 0.36488035321235657, 0.05620459467172623, 0.46684733033180237, 0.3640429377555847, 0.38755595684051514, 0.04762747511267662, 0.46582213044166565, 0.3593524396419525, 0.02028757706284523, 0.4164559543132782, 0.0836171805858612, 0.40885332226753235, 0.32222217321395874, 0.00010387739166617393, 7.073568849591538e-05, 0.01808447577059269, 0.0032449625432491302, 0.010313697159290314, 0.021469445899128914, 0.05917879566550255], "count": [1161]}, "observation.state.joint_torque": {"min": [-40.894500732421875, -7.147500038146973, -20.281999588012695, -8.206000328063965, -0.13439999520778656, -1.0255999565124512, 1.3944000005722046, -0.6049255728721619, -0.5450698137283325, -0.24356716871261597, -0.32558467984199524, -0.11289741843938828, -0.42024534940719604, -0.24082551896572113, -0.08965382725000381, -0.032821137458086014, -0.2916771173477173, -0.23602820932865143, -0.05146794021129608, -0.03139413148164749, -0.32525834441185, -0.4547860622406006, -0.10293588042259216, -0.04709119349718094, -0.0013194032944738865, -0.37994784116744995, -0.3099069595336914, -0.06973075866699219, -0.04066966846585274, 5.4029998779296875, -17.50950050354004, -4.39300012588501, -11.098999977111816, -3.0216000080108643, -4.299200057983398, -2.837599992752075, -1.5638917684555054, -0.8303399682044983, -1.3085521459579468, -0.9543855786323547, -0.10791664570569992, -0.6927331686019897, -0.7973148822784424, -0.302166610956192, -0.21262387931346893, -0.3223799765110016, -0.24082553386688232, -0.3785383999347687, -0.15483014285564423, -0.335812509059906, -0.30894747376441956, -0.11123716086149216, -0.04066966846585274, -0.12314429879188538, -1.5792781114578247, -0.5900704860687256, -0.1145576685667038, -0.04209667816758156, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-15.391500473022461, 11.83650016784668, -6.063000202178955, 2.944000005722046, 1.72160005569458, 1.2391999959945679, 3.4823999404907227, 0.6112931966781616, 0.3718700408935547, 0.5293857455253601, 0.43245598673820496, 0.12949997186660767, 0.3502044677734375, 0.28112301230430603, 0.10791664570569992, 0.021405089646577835, 0.3972181975841522, 0.16214945912361145, 0.08467306196689606, 0.01783757284283638, 0.29743391275405884, 0.4096912443637848, 0.12285894900560379, 0.022118592634797096, 0.001759204315021634, 0.32333943247795105, 0.1986090987920761, 0.08135254681110382, 0.02497260272502899, 40.32749938964844, 11.53950023651123, 22.10300064086914, 5.607999801635742, 0.20160000026226044, 3.2808001041412354, 4.6296000480651855, 2.479557991027832, 4.1542463302612305, 2.638230085372925, 1.6328940391540527, 0.36525633931159973, 2.145362138748169, 2.141524314880371, 1.0592433214187622, 0.21333740651607513, 1.5034804344177246, 0.4029749631881714, 0.7670382857322693, 0.15126264095306396, 1.5408995151519775, 0.2753662168979645, 0.6408588290214539, 0.14769510924816132, 0.1376577466726303, 1.1926140785217285, 0.7138413786888123, 0.7205511331558228, 0.14912211894989014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.408666610717773, 5.225902557373047, -13.053985595703125, -1.8361036777496338, 0.30395767092704773, 0.006212564185261726, 2.0521738529205322, 0.037522491067647934, -0.009943599812686443, 0.009850533679127693, -0.0211707204580307, -0.00017017404024954885, 0.05458034202456474, 0.010387159883975983, 0.003567906329408288, 0.0009261395316570997, 0.054887887090444565, -0.028355013579130173, 0.001135437749326229, 0.0005905908765271306, 0.010333440266549587, 0.0202983096241951, 0.005768711678683758, 0.0008517811074852943, -5.303373200149508e-06, 0.03020378388464451, -0.0006875736289657652, 0.0006663913372904062, -0.002179840812459588, 22.523096084594727, 0.9374808669090271, 9.962056159973145, -4.734957218170166, -0.6735763549804688, 0.9340493083000183, -0.9677994847297668, 0.2270914763212204, 0.8828898072242737, 0.4386938214302063, 0.14786818623542786, 0.0010782374301925302, 0.8111236095428467, -0.07463402301073074, 0.39929136633872986, 0.07602337747812271, 0.004063463769853115, -0.03279781714081764, 0.0024024397134780884, 0.0019739640410989523, 0.006201429292559624, -0.018367838114500046, 0.0008465739665552974, 0.0010281585855409503, 0.0010106691624969244, 0.01644807495176792, -0.01918349601328373, 0.002292328281328082, 0.0022382268216460943, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.1931562423706055, 1.18203604221344, 0.6639652252197266, 0.7893396019935608, 0.2565368115901947, 0.3116860091686249, 0.26157835125923157, 0.10271111875772476, 0.07467526942491531, 0.052678655833005905, 0.06738349795341492, 0.012375504709780216, 0.07331278920173645, 0.05059077963232994, 0.015866875648498535, 0.0049016447737813, 0.07693539559841156, 0.043154921382665634, 0.009522994048893452, 0.005361899733543396, 0.0679791197180748, 0.07809881120920181, 0.017362257465720177, 0.0068682413548231125, 0.00030375964706763625, 0.07184815406799316, 0.04167766124010086, 0.008478142321109772, 0.011676399037241936, 4.39812707901001, 2.785139560699463, 3.1492791175842285, 2.0475144386291504, 0.3980606198310852, 0.9592267274856567, 1.18534255027771, 0.721874475479126, 1.1623010635375977, 0.6504072546958923, 0.4371207058429718, 0.04901893436908722, 0.926655650138855, 0.25902941823005676, 0.4831431806087494, 0.10490569472312927, 0.08369722217321396, 0.06321090459823608, 0.03832726553082466, 0.010823189280927181, 0.08647841960191727, 0.06391455978155136, 0.024342402815818787, 0.012587827630341053, 0.01959083043038845, 0.09237196296453476, 0.09074666351079941, 0.03404146060347557, 0.00904123019427061, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1161]}, "observation.state.tcp": {"min": [0.3617665767669678, 0.1909632533788681, 0.9777620434761047, -1.2787882089614868, 1.1806492805480957, -1.4545913934707642, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.29862797260284424, -0.21112504601478577, 0.8862220048904419, -0.14120550453662872, 1.218435287475586, 0.6772982478141785, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.45641636848449707, 0.3088289201259613, 1.0518232583999634, -0.9797475934028625, 1.5656510591506958, -1.2282418012619019, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4719371497631073, 0.016952279955148697, 1.0538054704666138, 1.365797758102417, 2.1735565662384033, 1.5108001232147217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4338248074054718, 0.2887997031211853, 0.9970213174819946, -1.1837670803070068, 1.3825480937957764, -1.3194386959075928, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3545173406600952, -0.10820655524730682, 0.922629714012146, 0.14911004900932312, 1.9202595949172974, 1.0640454292297363, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.010982982814311981, 0.024411147460341454, 0.015124869532883167, 0.07649615406990051, 0.1241598129272461, 0.048990268260240555, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03348100185394287, 0.055100973695516586, 0.03733678162097931, 0.3238881230354309, 0.19083325564861298, 0.20456428825855255, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1161]}, "action": {"min": [1.0499999523162842, -0.8351694345474243, -0.1703367829322815, 1.1871323585510254, 0.0, -0.7699999809265137, 0.40661656856536865, 0.0, -0.04073578864336014, -0.2742379903793335, -0.3304663300514221, 0.0, 0.0, -0.04370743781328201, 0.0, 0.0, -0.15306049585342407, -0.046487875282764435, 0.0, 0.0, -0.13172434270381927, -0.09557539969682693, 0.0, 0.0, 0.0, -0.15084369480609894, -0.24024909734725952, 0.0, 0.0, 0.9630670547485352, -0.779675304889679, -0.22948703169822693, 1.0002330541610718, -1.1970984935760498, -0.8495200276374817, -0.09661925584077835, 0.0, -0.28232893347740173, 0.0, -0.18579250574111938, -0.1734781563282013, 0.0, -0.16422110795974731, 0.0, 0.0, 0.0, -0.0750584676861763, 0.0, 0.0, 0.0, -0.10065681487321854, 0.0, 0.0, 0.0, -0.05487820878624916, -0.17390447854995728, 0.0, 0.0, 0.5626833438873291, -1.1069231033325195, 0.5442397594451904, -0.0067079863511025906, -0.041651517152786255, 0.0, -0.8726646304130554], "max": [1.2395042181015015, -0.6764000058174133, 0.0, 1.5700000524520874, 0.032309964299201965, -0.07945375144481659, 0.7698649168014526, 1.0481882095336914, 0.012953691184520721, 0.0, 0.0, 0.4822549521923065, 0.8664336800575256, 0.020623616874217987, 0.21941311657428741, 0.29364216327667236, 0.4660525321960449, 0.050344400107860565, 0.06108149141073227, 0.02692112885415554, 0.15052413940429688, 0.0210069939494133, 0.06383010745048523, 0.33346834778785706, 0.014764547348022461, 0.08184187859296799, 0.0, 0.06563518196344376, 0.05625872313976288, 1.3543894290924072, -0.19548965990543365, -0.0007621644181199372, 1.5691287517547607, 0.2226223647594452, -0.10555291175842285, 0.5836847424507141, 1.5181658267974854, 0.0, 0.7689523696899414, 0.3490658402442932, 0.33139321208000183, 1.1201895475387573, 0.25052887201309204, 0.7056122422218323, 0.8850109577178955, 1.5707963705062866, 0.24333834648132324, 1.7453292608261108, 1.3926626443862915, 1.5707963705062866, 0.2018250823020935, 1.7453292608261108, 1.3962633609771729, 0.08743114769458771, 1.5707963705062866, 0.3348020911216736, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106767177581787, 0.6588980555534363, 0.009089985862374306, 0.019035646691918373, 0.12521661818027496, -0.5999520421028137], "mean": [1.187469482421875, -0.8186898231506348, -0.15428580343723297, 1.246657371520996, 0.03135945275425911, -0.26020970940589905, 0.5466760396957397, 0.993873119354248, 0.001106003299355507, -0.2559894621372223, -0.30612805485725403, 0.4656451344490051, 0.6088916063308716, 7.832016854081303e-05, 0.08574071526527405, 0.2779610753059387, 0.3093022406101227, 0.028084738180041313, 0.006893138401210308, 0.022776303812861443, 0.11783201992511749, -0.009604332037270069, 0.026801900938153267, 0.3189907968044281, 0.010396867990493774, 0.03163395822048187, -0.1370895951986313, 0.020415812730789185, 0.01583724282681942, 1.0555636882781982, -0.5455998182296753, -0.21824482083320618, 1.308612585067749, -1.0215435028076172, -0.41809070110321045, 0.14272147417068481, 1.3472834825515747, -0.1899726688861847, 0.5291253924369812, -0.014953471720218658, -0.01878545619547367, 0.8761526942253113, 0.17182253301143646, 0.06307557225227356, 0.4991241693496704, 1.4451810121536255, 0.16500414907932281, 1.5773290395736694, 1.1498339176177979, 1.4352835416793823, 0.13636243343353271, 1.5903747081756592, 1.152134895324707, 0.07626544684171677, 1.4292633533477783, 0.2679482102394104, 1.6092034578323364, 1.2873427867889404, 0.5626831650733948, -1.1067745685577393, 0.6414787769317627, 0.0014097554376348853, 0.0011819131905212998, 0.1002601683139801, -0.8528872132301331], "std": [0.025045916438102722, 0.027751268818974495, 0.023984648287296295, 0.05123971030116081, 0.0047922637313604355, 0.1290348768234253, 0.10414117574691772, 0.18438880145549774, 0.00709544587880373, 0.04892229661345482, 0.05857982859015465, 0.08795838803052902, 0.26404809951782227, 0.013985291123390198, 0.1018490195274353, 0.05263428017497063, 0.1653010994195938, 0.01441291905939579, 0.01207934133708477, 0.006171924527734518, 0.06189194694161415, 0.020703604444861412, 0.02262123115360737, 0.0603548139333725, 0.005134084727615118, 0.05371882766485214, 0.03642813488841057, 0.023557184264063835, 0.02113841287791729, 0.05993060767650604, 0.13139204680919647, 0.034771498292684555, 0.15488745272159576, 0.3136035203933716, 0.16212554275989532, 0.17467238008975983, 0.243710458278656, 0.05136537179350853, 0.20891857147216797, 0.09631536900997162, 0.10699192434549332, 0.24057404696941376, 0.08388970047235489, 0.06930717825889587, 0.27162984013557434, 0.40343043208122253, 0.05822519212961197, 0.4917462170124054, 0.36990058422088623, 0.42599689960479736, 0.05734429135918617, 0.49299880862236023, 0.3689882457256317, 0.023958511650562286, 0.44754108786582947, 0.10623359680175781, 0.44413769245147705, 0.35531365871429443, 1.802456921495832e-07, 2.148642306565307e-05, 0.018368134275078773, 0.0032966460566967726, 0.010470598936080933, 0.0216227974742651, 0.059370219707489014], "count": [1161]}, "observation.state.tcp_pose": {"min": [0.3617665767669678, 0.1909632533788681, 0.9777620434761047, -1.2787882089614868, 1.1806492805480957, -1.4545913934707642, 0.29862797260284424, -0.21112504601478577, 0.8862220048904419, -0.14120550453662872, 1.218435287475586, 0.6772982478141785], "max": [0.45641636848449707, 0.3088289201259613, 1.0518232583999634, -0.9797475934028625, 1.5656510591506958, -1.2282418012619019, 0.4719371497631073, 0.016952279955148697, 1.0538054704666138, 1.365797758102417, 2.1735565662384033, 1.5108001232147217], "mean": [0.4338248074054718, 0.2887997031211853, 0.9970213174819946, -1.1837670803070068, 1.3825480937957764, -1.3194386959075928, 0.3545173406600952, -0.10820655524730682, 0.922629714012146, 0.14911004900932312, 1.9202595949172974, 1.0640454292297363], "std": [0.010982982814311981, 0.024411147460341454, 0.015124869532883167, 0.07649615406990051, 0.1241598129272461, 0.048990268260240555, 0.03348100185394287, 0.055100973695516586, 0.03733678162097931, 0.3238881230354309, 0.19083325564861298, 0.20456428825855255], "count": [1161]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.18740080296993256, 0.979985773563385, -1.278880000114441, 1.1546598672866821, -1.4597346782684326, 0.29864752292633057, -0.20969662070274353, 0.8860839009284973, -0.14197933673858643, 1.2192462682724, 0.6768795251846313], "max": [0.45451483130455017, 0.3088177442550659, 1.0518032312393188, -0.9300070405006409, 1.566133975982666, -1.2289544343948364, 0.47198018431663513, 0.017028117552399635, 1.0535959005355835, 1.3658080101013184, 2.1741580963134766, 1.5069677829742432], "mean": [0.4338192045688629, 0.2888821065425873, 0.9971504211425781, -1.1822466850280762, 1.3807168006896973, -1.319947361946106, 0.3545381724834442, -0.10820628702640533, 0.9226810336112976, 0.1482032984495163, 1.920011281967163, 1.0643610954284668], "std": [0.010978438891470432, 0.024368958547711372, 0.015251812525093555, 0.0795438289642334, 0.1265282928943634, 0.04978623986244202, 0.03350038081407547, 0.05502394959330559, 0.03743438050150871, 0.3226514458656311, 0.19113095104694366, 0.2046278715133667], "count": [1161]}, "subtask_index": {"min": [64], "max": [217], "mean": [206.14814814814815], "std": [17.02074830817671], "count": [1161]}, "observation.tactile": {"min": [-0.029949262738227844, -3.401877620490268e-05, -7.70033584558405e-05, -0.0012986349174752831, -0.00022123425151221454, -0.0005845808773301542, -0.01311013475060463, -2.804755058605224e-05, -5.8732653997140005e-05, -0.0013007608940824866, -4.668514065997442e-06, -0.00028125959215685725, -0.02075730636715889, -3.378950714250095e-05, -7.505571556976065e-05, -0.0016448618844151497, -4.207797974231653e-05, -0.00044566512224264443, -0.00546221574768424, -3.403055961825885e-05, -7.58257374400273e-05, -0.0007676092209294438, -6.440075230784714e-05, -0.00011520706175360829, -0.0029550567269325256, -4.921191793982871e-05, -0.00011147960321977735, -0.00047579777310602367, -4.1938146750908345e-06, -6.951669638510793e-05, -1.3548945188522339, -3.754593853955157e-05, -8.455010538455099e-05, -0.22631186246871948, -0.014396658167243004, -0.04493460804224014, -4.360204696655273, 0.0, 0.0, -0.3408704400062561, -0.031902115792036057, -0.07101695239543915, -0.005503474734723568, -5.345751196728088e-05, -0.00011860238737426698, -0.0011090209009125829, -3.0781047826167196e-05, -0.00011711131810443476, -0.013083345256745815, -4.05532555305399e-05, -8.822274685371667e-05, -0.0017078722594305873, -6.703208055114374e-05, -0.0003090176032856107, -0.005364034790545702, -4.26275328209158e-05, -9.51586989685893e-05, -0.0011511840857565403, -5.8599620388122275e-05, -0.00011114175140392035], "max": [0.00027150005917064846, 0.021463587880134583, 0.0624750591814518, 1.4670549717266113e-06, 5.872694237041287e-05, 5.797367066406878e-06, 0.007171406876295805, 0.024379197508096695, 0.070563904941082, 1.0844162261491874e-06, 0.0002151231310563162, 9.401112038176507e-05, 0.00122209289111197, 0.030148295685648918, 0.08725430816411972, 1.4389421494342969e-06, 0.0001251868234248832, 5.747373052145122e-06, 0.0002716562303248793, 0.012228753417730331, 0.0356794148683548, 1.3961264357931213e-06, 7.973519677761942e-05, 5.691043043043464e-06, 0.0006538888555951416, 0.008168557658791542, 0.02377910725772381, 2.1385094441939145e-06, 4.330133742769249e-05, 8.346519280166831e-06, 4.640347957611084, 13.30347728729248, 12.36674690246582, 1.5608486592100235e-06, 0.03255157545208931, 0.1036006286740303, 7.327658653259277, 18.53895378112793, 20.81789207458496, 0.0, 0.010357276536524296, 0.13341978192329407, 0.006428467109799385, 0.017728568986058235, 0.049712635576725006, 2.1859877961105667e-06, 0.00020403956295922399, 5.4539021220989525e-05, 0.02051062509417534, 0.0318927988409996, 0.09158925712108612, 1.6784492800070439e-06, 0.000280156236840412, 0.0002704169019125402, 0.0008426508284173906, 0.01786918193101883, 0.0509350560605526, 1.7703272305880091e-06, 7.761027518427e-05, 7.077182090142742e-06], "mean": [-0.005756771191954613, 0.0054315426386892796, 0.016274593770503998, -0.00032906513661146164, -6.063629552954808e-05, -9.68184758676216e-05, -0.0008663690532557666, 0.0035708462819457054, 0.01055832952260971, -0.00019195594359189272, 2.7903033696929924e-05, -2.436521026538685e-05, -0.002494890009984374, 0.0032981201075017452, 0.009593639522790909, -0.00018150325922761112, 1.1438758519943804e-05, -5.073765350971371e-05, -0.00026593246730044484, 0.0009134736028499901, 0.0026787868700921535, -4.989555600332096e-05, -4.1339814060847857e-07, -4.672757768275915e-06, 0.00019667479500640184, 0.000378946220735088, 0.0011359017807990313, -2.3869901269790716e-05, 3.2521398907192633e-07, 3.7415179576782975e-06, 1.0418866872787476, 2.1617114543914795, 2.853388547897339, -0.058222491294145584, 0.005355388857424259, 0.019160684198141098, -0.42812207341194153, 3.1841013431549072, 6.093858242034912, -0.11521609127521515, -0.004617700353264809, -0.00534018874168396, -0.0002548996126279235, 0.003962640184909105, 0.011561700142920017, -0.00025185366393998265, 2.2417498257709667e-05, -1.3614381714432966e-05, -0.0007308658096008003, 0.004914974793791771, 0.01414456870406866, -0.0002613142132759094, 2.3692553440923803e-05, -2.261636473122053e-05, -0.0008791621658019722, 0.002745395991951227, 0.008023091591894627, -0.00016315052926074713, -3.0993635391496355e-06, -1.677965519775171e-05], "std": [0.005975336767733097, 0.005164767615497112, 0.0154393520206213, 0.0003143057692795992, 5.78783183300402e-05, 0.0001048688282025978, 0.002100554062053561, 0.004916278179734945, 0.014475363306701183, 0.00026455827173776925, 3.732959521585144e-05, 4.445213926373981e-05, 0.0037546942476183176, 0.005045474972575903, 0.014740776270627975, 0.0002899396640714258, 2.3239859729073942e-05, 7.944584649521858e-05, 0.0009199407650157809, 0.0018170925322920084, 0.0053052641451358795, 0.00010544217366259545, 8.840411283017602e-06, 1.8746226487564854e-05, 0.0003357297391630709, 0.0011074214708060026, 0.0031967712566256523, 6.744388520019129e-05, 4.811215148947667e-06, 7.914159141364507e-06, 1.4679632186889648, 2.7211499214172363, 3.429171562194824, 0.0724378451704979, 0.009933068417012691, 0.03062073141336441, 1.7175196409225464, 4.250320911407471, 7.132598400115967, 0.12985669076442719, 0.00875039491802454, 0.03057798370718956, 0.0008475450449623168, 0.004023184068500996, 0.011555380187928677, 0.00025741284480318427, 2.675872929103207e-05, 2.0436749764485285e-05, 0.0027009465266019106, 0.0052786776795983315, 0.01513007190078497, 0.0003002184967044741, 4.246257958584465e-05, 4.7903369704727083e-05, 0.0011954751098528504, 0.0032485330011695623, 0.009407243691384792, 0.00020035576017107815, 1.4640652807429433e-05, 2.363757994316984e-05], "count": [1161]}, "timestamp": {"min": [0.0], "max": [38.666666666666664], "mean": [19.333333333333332], "std": [11.17172356475971], "count": [1161]}, "frame_index": {"min": [0], "max": [1160], "mean": [580.0], "std": [335.1517069427913], "count": [1161]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1161]}, "index": {"min": [11503], "max": [12663], "mean": [12083.0], "std": [335.1517069427913], "count": [1161]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1161]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5490089654922485]], [[0.548812747001648]], [[0.5508768558502197]]], "std": [[[0.30112650990486145]], [[0.3012198507785797]], [[0.30229371786117554]]], "count": [1161]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2583160102367401]], [[0.2595614194869995]], [[0.2587837278842926]]], "std": [[[0.15830717980861664]], [[0.16066575050354004]], [[0.15956395864486694]]], "count": [1161]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.19586093723773956]], [[0.1967952847480774]], [[0.19747410714626312]]], "std": [[[0.13573729991912842]], [[0.1367647498846054]], [[0.14038792252540588]]], "count": [1161]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5471873879432678]], [[0.5471230149269104]], [[0.5491362810134888]]], "std": [[[0.2994711399078369]], [[0.2995937764644623]], [[0.30129027366638184]]], "count": [1161]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6313725709915161]], [[0.6313725709915161]], [[0.6313725709915161]]], "mean": [[[0.0024057822301983833]], [[0.0024057822301983833]], [[0.0024057822301983833]]], "std": [[[0.030042294412851334]], [[0.030042294412851334]], [[0.030042294412851334]]], "count": [1161]}, "observation.images.tactile_raw": {"min": [[[0.027450980618596077]], [[0.027450980618596077]], [[0.027450980618596077]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46884414553642273]], [[0.46884414553642273]], [[0.46884414553642273]]], "std": [[[0.23592227697372437]], [[0.23592227697372437]], [[0.23592227697372437]]], "count": [1161]}}}
+{"episode_index": 7, "stats": {"observation.state": {"min": [1.049228310585022, -0.9055574536323547, -0.19816215336322784, 1.0653939247131348, -1.5102837085723877, -0.7698141932487488, -0.22618834674358368, 0.006348809227347374, -0.17185093462467194, -0.2768893241882324, -0.3418101370334625, 0.0031010068487375975, -0.007176421117037535, -0.033646319061517715, 0.003468333976343274, 0.000839399523101747, -0.1702146828174591, -0.0005705984658561647, 0.0034807438496500254, 0.0008323047659359872, -0.13922365009784698, -0.03729364648461342, 0.00306271412409842, 0.000839399523101747, 0.004669930320233107, -0.14222359657287598, -0.038234177976846695, 0.0034708159510046244, 0.0008518153917975724, 0.9402550458908081, -0.9392645359039307, -0.23284533619880676, 1.0113815069198608, -1.4462019205093384, -0.8301307559013367, -0.10027200728654861, 0.007582110818475485, -0.30000191926956177, 0.0032541474793106318, -0.22870534658432007, 0.003461597254499793, 0.005123387090861797, -0.08239588886499405, 0.0031350450590252876, 0.0007755466504022479, 0.0036831474862992764, -0.00025561725487932563, 0.002615610370412469, 0.0008278705645352602, -0.002081245882436633, -0.029612857848405838, 0.003583566751331091, 0.0008256534347310662, 0.005896549206227064, -0.061509836465120316, -0.03606952726840973, 0.003486416768282652, 0.000866004906129092, 0.5622039437294006, -1.1070547103881836, 0.5442755818367004, -0.00882038939744234, -0.05215534567832947, -9.58738019107841e-05, -0.8729309439659119], "max": [1.2274800539016724, -0.617559552192688, -0.00020337229943834245, 1.569258213043213, -2.756371941359248e-06, -0.11775148659944534, 0.6982142329216003, 1.3099992275238037, 0.05854135379195213, 0.3852156102657318, -0.005331150256097317, 0.4857124984264374, 0.856994092464447, 0.20450398325920105, 1.0325055122375488, 0.3400508165359497, 1.4732729196548462, 0.2553774416446686, 1.6535497903823853, 0.8132380247116089, 1.3990973234176636, 0.1822056621313095, 1.6531816720962524, 0.7762264013290405, 0.11721385270357132, 1.273688554763794, 0.18344056606292725, 1.6536868810653687, 1.308297038078308, 1.3314789533615112, -0.22870801389217377, -0.0004631902847904712, 1.6063215732574463, 0.5217767357826233, 0.27023935317993164, 0.5693780779838562, 1.5307505130767822, 0.00044500711373984814, 0.7963752150535583, 0.31491854786872864, 0.36912015080451965, 1.0835013389587402, 0.2557930648326874, 0.778771162033081, 0.8309944272041321, 1.4688814878463745, 0.2671370804309845, 1.655687689781189, 1.3082683086395264, 1.469025731086731, 0.21812283992767334, 1.6548545360565186, 1.3082523345947266, 0.06950200349092484, 1.4686295986175537, 0.314552903175354, 1.6547811031341553, 1.3082042932510376, 0.5637379288673401, -1.1060001850128174, 0.6631590723991394, 0.031254857778549194, 0.0, 0.11159710586071014, -0.5290316343307495], "mean": [1.1776701211929321, -0.8338983654975891, -0.13902120292186737, 1.3636974096298218, -0.6244381070137024, -0.49723318219184875, 0.2781493663787842, 0.9935041666030884, -0.057280976325273514, -0.21882282197475433, -0.2770177721977234, 0.47484874725341797, 0.6813273429870605, 0.15763166546821594, 0.2495500147342682, 0.2966291606426239, 1.248963475227356, 0.15652424097061157, 1.023350715637207, 0.49174967408180237, 1.1274793148040771, 0.08668377995491028, 1.367524266242981, 0.6397601366043091, 0.0936453565955162, 1.0135868787765503, 0.11411172151565552, 1.3697748184204102, 1.0845754146575928, 1.0564558506011963, -0.5904668569564819, -0.21412120759487152, 1.3369090557098389, -0.7370343804359436, -0.4300156831741333, 0.10053493082523346, 1.3802003860473633, -0.23328420519828796, 0.5592669248580933, 0.011993134394288063, 0.07780320942401886, 0.883086621761322, 0.173749640583992, 0.1344345360994339, 0.4825156629085541, 1.39346444606781, 0.1689765900373459, 1.54976487159729, 1.206996202468872, 1.3901170492172241, 0.1376274675130844, 1.556573510169983, 1.1728609800338745, 0.06488702446222305, 1.3830868005752563, 0.27165618538856506, 1.581198811531067, 1.2492763996124268, 0.5626851320266724, -1.1067813634872437, 0.6403878927230835, 0.0019527090480551124, -0.018695252016186714, 0.06980088353157043, -0.8547245264053345], "std": [0.030660631135106087, 0.0835358276963234, 0.020089898258447647, 0.11127133667469025, 0.37022942304611206, 0.11167413741350174, 0.23822295665740967, 0.1551664173603058, 0.046526581048965454, 0.1366037130355835, 0.0359443724155426, 0.05858223885297775, 0.188104048371315, 0.06150431931018829, 0.25473806262016296, 0.03848091885447502, 0.48015841841697693, 0.044014476239681244, 0.5015143752098083, 0.2258497029542923, 0.4860309362411499, 0.03975404053926468, 0.6121402382850647, 0.16043691337108612, 0.04084702953696251, 0.46181634068489075, 0.07232651114463806, 0.6132103204727173, 0.48309531807899475, 0.07157139480113983, 0.15056191384792328, 0.029905742034316063, 0.12847794592380524, 0.5333465337753296, 0.2880851924419403, 0.1360732614994049, 0.16420447826385498, 0.04828135669231415, 0.16322827339172363, 0.09844736754894257, 0.1042192280292511, 0.2061968892812729, 0.06278443336486816, 0.1524043083190918, 0.2523992359638214, 0.2939876616001129, 0.051803894340991974, 0.3826007544994354, 0.30625730752944946, 0.3113541007041931, 0.050194304436445236, 0.3815002739429474, 0.29427874088287354, 0.014378360472619534, 0.3362811505794525, 0.07107149809598923, 0.30939725041389465, 0.24632886052131653, 8.610983059043065e-05, 7.115500920917839e-05, 0.021464737132191658, 0.009993606247007847, 0.013349467888474464, 0.019898245111107826, 0.055614132434129715], "count": [1698]}, "observation.state.joint_torque": {"min": [-37.80149841308594, -9.074999809265137, -18.934999465942383, -8.892999649047852, -1.7200000286102295, -0.9815999865531921, -1.7791999578475952, -1.0837719440460205, -0.6978930830955505, -0.7518272399902344, -0.31315773725509644, -0.1145576685667038, -0.7886795997619629, -0.3617180287837982, -0.3436730206012726, -0.032821137458086014, -1.1283299922943115, -0.21587945520877838, -0.41008326411247253, -0.033534638583660126, -1.6675487756729126, -1.835455060005188, -0.6358780860900879, -0.06207476183772087, -0.1534905731678009, -0.7819633483886719, -0.5689623355865479, -0.22579483687877655, -0.06564227491617203, -5.697000026702881, -16.861499786376953, -13.668000221252441, -12.161999702453613, -1.4359999895095825, -7.0503997802734375, -3.7360000610351562, -1.914111852645874, -0.8379811644554138, -0.6822365522384644, -0.7282160520553589, -0.11953844130039215, -0.6533951163291931, -0.7272738814353943, -0.14610254764556885, -0.11130645871162415, -0.47493478655815125, -0.29455551505088806, -0.3104678690433502, -0.05565322935581207, -0.29263660311698914, -0.4384751617908478, -0.10791664570569992, -0.057793740183115005, -0.10995026677846909, -0.5257863998413086, -0.5229080319404602, -0.10459613054990768, -0.04851820319890976, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-12.993000030517578, 16.078500747680664, -5.270999908447266, 5.031000137329102, 1.944000005722046, 3.060800075531006, 3.1735999584198, 2.333102226257324, 4.2905144691467285, 2.77119779586792, 1.4701018333435059, 0.7853010892868042, 2.145362138748169, 0.3837856650352478, 1.0559228658676147, 0.21333740651607513, 0.8884639143943787, 1.8392930030822754, 0.3718973398208618, 0.027826614677906036, 1.7251167297363281, 0.5881515741348267, 0.10791664570569992, 0.02425910159945488, 0.35975730419158936, 0.6773817539215088, 0.42024531960487366, 0.14278201758861542, 0.05708024278283119, 51.93299865722656, 12.100500106811523, 24.413000106811523, 4.5229997634887695, 1.3279999494552612, 2.3440001010894775, 7.655200004577637, 2.2121171951293945, 3.964491128921509, 2.228142261505127, 1.837937831878662, 0.556185781955719, 2.1463215351104736, 1.9985640048980713, 1.0592433214187622, 0.21476440131664276, 1.4487910270690918, 0.34156927466392517, 0.3337114453315735, 0.06706927716732025, 1.3374931812286377, 0.34924498200416565, 0.11123716086149216, 0.10488493740558624, 0.12798210978507996, 0.3578801453113556, 0.6063814163208008, 0.22745507955551147, 0.05850724130868912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.359821319580078, 4.917777061462402, -13.402192115783691, -2.8126659393310547, 0.21848468482494354, 1.1337671279907227, 1.725411295890808, 0.115616075694561, 0.19845588505268097, 0.13904660940170288, 0.009070619009435177, 0.021220557391643524, 0.14236554503440857, 0.0019957826007157564, 0.056069426238536835, 0.010106698609888554, -0.09247646480798721, 0.17344191670417786, -0.000995371025055647, -0.0011883305851370096, 0.20365948975086212, -0.1745721697807312, 0.001161593827418983, -0.0006756849470548332, 0.008057824335992336, 0.012921683490276337, 0.01895412988960743, 0.0013727907789871097, 0.0006479512667283416, 22.628604888916016, 1.2963052988052368, 10.443449974060059, -5.205769062042236, -0.5839439034461975, 0.5423446893692017, -1.1078687906265259, 0.012483266182243824, 0.8055930137634277, 0.3150438070297241, 0.285779744386673, 0.009086432866752148, 0.793979823589325, 0.023555472493171692, 0.4175405204296112, 0.08493825048208237, 0.006751237437129021, -0.01977810077369213, 0.0004517282941378653, 0.002037139842286706, 0.007388079073280096, -0.020360702648758888, 0.00010950956493616104, 0.0014799521304666996, 0.0007120262016542256, 0.014486306346952915, -0.026236029341816902, 0.0010080835781991482, 0.0018207378452643752, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.8353097438812256, 1.2897696495056152, 0.90043705701828, 1.023361086845398, 0.4123995006084442, 0.6032266616821289, 0.5927636623382568, 0.42385241389274597, 0.7729896903038025, 0.5706911087036133, 0.12500537931919098, 0.08889999240636826, 0.47576025128364563, 0.06335331499576569, 0.21478748321533203, 0.040874630212783813, 0.28119122982025146, 0.40939590334892273, 0.021706365048885345, 0.007428217679262161, 0.4283296465873718, 0.379953533411026, 0.025154540315270424, 0.006606280338019133, 0.04132041335105896, 0.08123061060905457, 0.08815961331129074, 0.01313044223934412, 0.006258049514144659, 4.157966136932373, 2.652451276779175, 2.881394147872925, 1.5243182182312012, 0.39839258790016174, 1.3152445554733276, 1.0514267683029175, 0.6008962392807007, 1.0600236654281616, 0.4686388373374939, 0.48011869192123413, 0.06031201407313347, 0.8886658549308777, 0.29589173197746277, 0.4766833484172821, 0.10569914430379868, 0.06007687374949455, 0.07294616848230362, 0.016810527071356773, 0.008723480626940727, 0.0566454716026783, 0.07353318482637405, 0.009161022491753101, 0.01115080714225769, 0.013476703315973282, 0.059843309223651886, 0.08310237526893616, 0.014513964764773846, 0.004628128372132778, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1698]}, "observation.state.tcp": {"min": [0.3619401752948761, 0.1406298279762268, 0.9449184536933899, -1.208508014678955, 1.1621448993682861, -1.3988137245178223, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2956294119358063, -0.25050657987594604, 0.887972891330719, -1.8093006610870361, -2.0440447330474854, -1.686313509941101, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.476409912109375, 0.2791704833507538, 1.0517594814300537, 0.5442824363708496, 2.1474740505218506, -0.42711347341537476, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.48979684710502625, -0.013759742490947247, 1.0517109632492065, 1.7890913486480713, 2.101743221282959, 1.6953986883163452, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.41835808753967285, 0.24646613001823425, 1.001114010810852, -0.6069592833518982, 1.5950320959091187, -0.9752612709999084, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3535745441913605, -0.1372932344675064, 0.924045205116272, 0.23018085956573486, 1.537246823310852, 0.7617674469947815, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.021850042045116425, 0.040138475596904755, 0.016656579449772835, 0.4399675130844116, 0.1966368556022644, 0.19954678416252136, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.029992708936333656, 0.05696939304471016, 0.0319303460419178, 0.7144709825515747, 1.073428988456726, 0.7866908311843872, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1698]}, "action": {"min": [1.048410415649414, -0.9055802226066589, -0.19818376004695892, 1.0644359588623047, -1.5102272033691406, -0.7699999809265137, -0.22669515013694763, 0.0, -0.172274649143219, -0.2750144898891449, -0.3490658402442932, 0.0, -0.02468014508485794, -0.033449240028858185, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.16461358964443207, -0.06096512824296951, 0.0, 0.0, 0.0, -0.1504123955965042, -0.1817660927772522, 0.0, 0.0, 0.9402487277984619, -0.9393762350082397, -0.23289060592651367, 1.0113786458969116, -1.4461824893951416, -0.8312039971351624, -0.1005999967455864, 0.0, -0.3045719563961029, 0.0, -0.22941499948501587, -0.17136910557746887, 0.0, -0.08272845298051834, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.039681024849414825, 0.0, 0.0, 0.0, -0.062471434473991394, -0.08148200064897537, 0.0, 0.0, 0.5626833438873291, -1.1069231033325195, 0.5442397594451904, -0.009254734963178635, -0.06001577153801918, 0.0, -0.8726646304130554], "max": [1.227491021156311, -0.6173983216285706, 0.0, 1.5700000524520874, 0.0, -0.11768496781587601, 0.8169608116149902, 1.3112659454345703, 0.09089892357587814, 0.39776062965393066, 0.0, 0.4822549521923065, 0.8666808605194092, 0.26423877477645874, 1.095689058303833, 0.34249958395957947, 1.5707963705062866, 0.25952479243278503, 1.7453292608261108, 0.8151189684867859, 1.4181090593338013, 0.1848554015159607, 1.7453292608261108, 0.7796745896339417, 0.12733957171440125, 1.2733957767486572, 0.18504703044891357, 1.7453292608261108, 1.3962633609771729, 1.331704020500183, -0.22867688536643982, -0.0031180218793451786, 1.6064859628677368, 0.521753191947937, 0.2703567445278168, 0.5702699422836304, 1.5395746231079102, 0.0, 0.8082609176635742, 0.3490658402442932, 0.37242743372917175, 1.143774390220642, 0.2624172568321228, 0.7817168235778809, 0.9792065620422363, 1.5707963705062866, 0.2714294195175171, 1.7453292608261108, 1.3962633609771729, 1.5707963705062866, 0.2234925627708435, 1.7453292608261108, 1.3357138633728027, 0.08509566634893417, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106767177581787, 0.6635305285453796, 0.03190844878554344, 0.0, 0.11377671360969543, -0.5290340781211853], "mean": [1.177643060684204, -0.833918571472168, -0.13902193307876587, 1.3635056018829346, -0.625880241394043, -0.49757900834083557, 0.2812305986881256, 1.0011779069900513, -0.05589919164776802, -0.21714888513088226, -0.28265616297721863, 0.4728809893131256, 0.6882967352867126, 0.15928812325000763, 0.2570956349372864, 0.2979690730571747, 1.3149231672286987, 0.15678100287914276, 1.0339432954788208, 0.4930230975151062, 1.1301966905593872, 0.08194868266582489, 1.4432743787765503, 0.6411265134811401, 0.10240080207586288, 1.012205958366394, 0.10650761425495148, 1.4458943605422974, 1.157692790031433, 1.0565494298934937, -0.5904859900474548, -0.21411502361297607, 1.3368316888809204, -0.7375020980834961, -0.4300899803638458, 0.10095074027776718, 1.378349781036377, -0.22952485084533691, 0.5607642531394958, 0.014903875067830086, 0.042292509227991104, 0.8919656276702881, 0.17974616587162018, 0.13959231972694397, 0.5068084597587585, 1.4903110265731812, 0.16761311888694763, 1.633622407913208, 1.2243750095367432, 1.4859508275985718, 0.13641682267189026, 1.6448441743850708, 1.1745179891586304, 0.0754595473408699, 1.481479287147522, 0.27391108870506287, 1.6637132167816162, 1.3302594423294067, 0.5626831650733948, -1.106785774230957, 0.6404352784156799, 0.0019402913749217987, -0.018748851493000984, 0.06984822452068329, -0.8546706438064575], "std": [0.030614696443080902, 0.08358827978372574, 0.020085882395505905, 0.1115167960524559, 0.3710023760795593, 0.11178471148014069, 0.24414946138858795, 0.16960331797599792, 0.05006913095712662, 0.14353302121162415, 0.042024146765470505, 0.06657377630472183, 0.1953311413526535, 0.06379669159650803, 0.2664429843425751, 0.0432172454893589, 0.5168136358261108, 0.04533594101667404, 0.5175628662109375, 0.22721412777900696, 0.4880818724632263, 0.04344802722334862, 0.6467449069023132, 0.1633753478527069, 0.04348830133676529, 0.4608957767486572, 0.09289272874593735, 0.6464759111404419, 0.5163813829421997, 0.07164447009563446, 0.1505405306816101, 0.02990468591451645, 0.12855744361877441, 0.5329554080963135, 0.2881448268890381, 0.13662315905094147, 0.18533283472061157, 0.050759099423885345, 0.1704632043838501, 0.10206234455108643, 0.13609269261360168, 0.21654120087623596, 0.06685397028923035, 0.15272340178489685, 0.2739584743976593, 0.32512521743774414, 0.05355430394411087, 0.4056803584098816, 0.3114233613014221, 0.34198909997940063, 0.05215468630194664, 0.4021044373512268, 0.29485198855400085, 0.018795780837535858, 0.3609839081764221, 0.07932411879301071, 0.3421168625354767, 0.27627915143966675, 1.795087882783264e-07, 2.199503251176793e-05, 0.021655341610312462, 0.010050716809928417, 0.01343610044568777, 0.019940322265028954, 0.055743563920259476], "count": [1698]}, "observation.state.tcp_pose": {"min": [0.3619401752948761, 0.1406298279762268, 0.9449184536933899, -1.208508014678955, 1.1621448993682861, -1.3988137245178223, 0.2956294119358063, -0.25050657987594604, 0.887972891330719, -1.8093006610870361, -2.0440447330474854, -1.686313509941101], "max": [0.476409912109375, 0.2791704833507538, 1.0517594814300537, 0.5442824363708496, 2.1474740505218506, -0.42711347341537476, 0.48979684710502625, -0.013759742490947247, 1.0517109632492065, 1.7890913486480713, 2.101743221282959, 1.6953986883163452], "mean": [0.41835808753967285, 0.24646613001823425, 1.001114010810852, -0.6069592833518982, 1.5950320959091187, -0.9752612709999084, 0.3535745441913605, -0.1372932344675064, 0.924045205116272, 0.23018085956573486, 1.537246823310852, 0.7617674469947815], "std": [0.021850042045116425, 0.040138475596904755, 0.016656579449772835, 0.4399675130844116, 0.1966368556022644, 0.19954678416252136, 0.029992708936333656, 0.05696939304471016, 0.0319303460419178, 0.7144709825515747, 1.073428988456726, 0.7866908311843872], "count": [1698]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.14016956090927124, 0.9451021552085876, -1.208855390548706, 1.1046886444091797, -1.3594419956207275, 0.2956312894821167, -0.25083327293395996, 0.8880112171173096, -1.8058078289031982, -2.0529680252075195, -1.6971147060394287], "max": [0.47342443466186523, 0.27969494462013245, 1.0518032312393188, 0.6229543089866638, 2.148237705230713, -0.4268130958080292, 0.490005224943161, -0.013759655877947807, 1.051208257675171, 1.7865041494369507, 2.1009392738342285, 1.6898969411849976], "mean": [0.4182220995426178, 0.2464277595281601, 1.0011664628982544, -0.6032821536064148, 1.5932058095932007, -0.9766854047775269, 0.3536083996295929, -0.13733312487602234, 0.9240971207618713, 0.22962234914302826, 1.5367186069488525, 0.761838436126709], "std": [0.022050753235816956, 0.040198955684900284, 0.01649835892021656, 0.4452846646308899, 0.1990467756986618, 0.20187318325042725, 0.030049286782741547, 0.05700070038437843, 0.032008204609155655, 0.7141019701957703, 1.073479413986206, 0.7869734764099121], "count": [1698]}, "subtask_index": {"min": [218], "max": [248], "mean": [232.09363957597174], "std": [8.903887774199324], "count": [1698]}, "observation.tactile": {"min": [-9.237884521484375, -3.7176803743932396e-05, -8.271956903627142e-05, -0.23255130648612976, -0.03878314048051834, -0.1347838044166565, -0.4858894944190979, -2.317940379725769e-05, -4.7048000851646066e-05, -0.35889774560928345, -0.013581141829490662, -0.014093255624175072, -0.010307648219168186, -3.802379796979949e-05, -8.376126061193645e-05, -0.0016053281724452972, -5.05849820910953e-05, -0.00023285631323233247, -0.01131228543817997, -0.05621910095214844, -0.7364345788955688, -0.0007893958245404065, -0.0001817647134885192, -0.00010882472270168364, -0.0026922770775854588, -4.934160824632272e-05, -0.00011172162339789793, -0.0006323720444925129, -4.889061892754398e-05, -5.085683733341284e-05, -0.7753705978393555, -3.7536538002314046e-05, -8.361447544302791e-05, -0.2138635814189911, -0.008736680261790752, -0.03226296976208687, -2.77532696723938, 0.0, 0.0, -0.36629676818847656, -0.040963705629110336, -0.04931575804948807, -0.0036207723896950483, -4.868487303610891e-05, -0.0001096921187127009, -0.0014793688897043467, -4.424782673595473e-05, -9.79733158601448e-05, -0.014584110118448734, -3.941386239603162e-05, -8.777588664088398e-05, -0.0024820459075272083, -0.00010558902431512251, -0.00035039117210544646, -0.010299819521605968, -4.648466710932553e-05, -0.00010444504005135968, -0.0012203012593090534, -5.498346945387311e-05, -0.00025477499002590775], "max": [0.00028500534244813025, 5.244478225708008, 17.19896697998047, 1.5810560398676898e-06, 3.648533675004728e-05, 0.005530443508177996, 10.533337593078613, 20.250591278076172, 16.10679817199707, 8.599142802268034e-07, 0.023561740294098854, 0.21136309206485748, 0.05386539176106453, 0.022669298574328423, 0.06851964443922043, 1.5911293758108513e-06, 0.000183476775418967, 0.0008112400537356734, 4.46832275390625, 1.1878989934921265, 0.04732014611363411, 0.013188046403229237, 0.002368799177929759, 0.08054888248443604, 0.012122944928705692, 0.012410620227456093, 0.035221636295318604, 2.124299953720765e-06, 0.0001040330171235837, 0.00016714507364667952, 5.706326007843018, 8.160890579223633, 9.133952140808105, 1.5308138472391875e-06, 0.025014379993081093, 0.11956767737865448, 5.872702121734619, 17.256916046142578, 19.262893676757812, 0.0, 0.009166243486106396, 0.12372970581054688, 0.03809874504804611, 0.026252688840031624, 0.08212470263242722, 2.0116638097533723e-06, 0.00043917988659814, 0.0005498118698596954, 0.02952299639582634, 0.0404890812933445, 0.12172828614711761, 1.6101729443107615e-06, 0.000491969520226121, 0.00044714921386912465, 0.002194090513512492, 0.01961909793317318, 0.05290454253554344, 1.903659722302109e-06, 0.00013525757822208107, 3.746869333554059e-05], "mean": [-0.42986997961997986, 0.3043457269668579, 0.8763135075569153, -0.013555783778429031, -0.002125767059624195, -0.006099939811974764, 0.33969414234161377, 0.8046234250068665, 0.7148213982582092, -0.015626374632120132, 0.0006090002716518939, 0.007332961540669203, -7.640855619683862e-05, 0.0011182848829776049, 0.003224343992769718, -4.8459041863679886e-05, 5.213587428443134e-07, -3.976785123427362e-08, 0.008990015834569931, 0.003073005471378565, 0.003119528293609619, -6.635651516262442e-05, 6.291872068686644e-06, 0.00016413400589954108, 0.00026010966394096613, 0.00020941096590831876, 0.0006304053240455687, -1.1697269655996934e-05, 1.3468967381413677e-06, 4.781140887644142e-06, 1.5040675401687622, 1.9069699048995972, 2.419644594192505, -0.0506432019174099, 0.004079361446201801, 0.029724176973104477, 0.35964682698249817, 3.1261231899261475, 5.796365261077881, -0.12118525058031082, -0.005365271586924791, 0.01030372828245163, 0.0007642647251486778, 0.0029091087635606527, 0.008702489547431469, -0.00015824260481167585, 2.863958252419252e-05, 4.939445716445334e-06, -0.001323230448178947, 0.006085499189794064, 0.01752740889787674, -0.00030975654954090714, 1.7776535969460383e-05, -3.089269739575684e-05, -0.000550378521438688, 0.002083907835185528, 0.006015530321747065, -0.00013167009456083179, 3.136661689495668e-06, -1.3633755770570133e-05], "std": [1.3625291585922241, 1.0183974504470825, 3.075591564178467, 0.04420160502195358, 0.006536586210131645, 0.01764625869691372, 1.5454524755477905, 3.3153529167175293, 2.7733702659606934, 0.06116088479757309, 0.0033308821730315685, 0.03319798782467842, 0.002436384093016386, 0.002798287430778146, 0.008068346418440342, 0.00013857882004231215, 9.54344795900397e-06, 3.8423127989517525e-05, 0.17185527086257935, 0.04121696203947067, 0.02894807793200016, 0.000536637264303863, 9.338769450550899e-05, 0.0031450516544282436, 0.00036695381277240813, 0.0008490113541483879, 0.002464491408318281, 4.600410466082394e-05, 1.0397979167464655e-05, 7.5475077210285235e-06, 1.801042079925537, 2.210766315460205, 2.6701278686523438, 0.057470932602882385, 0.006340984255075455, 0.0371454618871212, 1.4247568845748901, 3.5387048721313477, 6.253636837005615, 0.1276780664920807, 0.008771770633757114, 0.028403306379914284, 0.0030734275933355093, 0.003920069430023432, 0.011990007013082504, 0.000220986912609078, 6.0762067732866853e-05, 4.0171024011215195e-05, 0.003012966364622116, 0.0064123510383069515, 0.01836857758462429, 0.0003365960146766156, 4.8430309107061476e-05, 5.959942427580245e-05, 0.0012916988926008344, 0.003135445760563016, 0.008967971429228783, 0.00020251945534255356, 1.5509438526351005e-05, 3.0040633646422066e-05], "count": [1698]}, "timestamp": {"min": [0.0], "max": [56.56666666666667], "mean": [28.283333333333335], "std": [16.339009784584277], "count": [1698]}, "frame_index": {"min": [0], "max": [1697], "mean": [848.5], "std": [490.1702935375283], "count": [1698]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1698]}, "index": {"min": [12664], "max": [14361], "mean": [13512.5], "std": [490.1702935375283], "count": [1698]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1698]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5497174263000488]], [[0.5493804812431335]], [[0.5514053106307983]]], "std": [[[0.30082884430885315]], [[0.30099526047706604]], [[0.3021136522293091]]], "count": [1698]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.240684375166893]], [[0.2416713684797287]], [[0.24191182851791382]]], "std": [[[0.1540946513414383]], [[0.1557844579219818]], [[0.1563785970211029]]], "count": [1698]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.20321622490882874]], [[0.20511822402477264]], [[0.20480656623840332]]], "std": [[[0.1391502022743225]], [[0.1405944973230362]], [[0.14323711395263672]]], "count": [1698]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5475916862487793]], [[0.547179639339447]], [[0.5491232872009277]]], "std": [[[0.2991982400417328]], [[0.299589604139328]], [[0.30099716782569885]]], "count": [1698]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6392157077789307]], [[0.6392157077789307]], [[0.6392157077789307]]], "mean": [[[0.002559131011366844]], [[0.002559131011366844]], [[0.002559131011366844]]], "std": [[[0.030420517548918724]], [[0.030420517548918724]], [[0.030420517548918724]]], "count": [1698]}, "observation.images.tactile_raw": {"min": [[[0.019607843831181526]], [[0.019607843831181526]], [[0.019607843831181526]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46861737966537476]], [[0.46861737966537476]], [[0.46861737966537476]]], "std": [[[0.23580673336982727]], [[0.23580673336982727]], [[0.23580673336982727]]], "count": [1698]}}}
+{"episode_index": 8, "stats": {"observation.state": {"min": [1.0499887466430664, -0.8162638545036316, -0.13874028623104095, 1.128973364830017, -0.00854259543120861, -0.7700336575508118, 0.3530236482620239, 0.006242390722036362, -0.002018700586631894, -0.2770260274410248, -0.31039541959762573, 0.0030754783656448126, 0.0036225547082722187, 0.00014547116006724536, 0.0033850118052214384, 0.0008300876361317933, -0.1252407431602478, 0.0009888614295050502, 0.003461597254499793, 0.0007946137920953333, -0.09643914550542831, -0.018053894862532616, 0.003121216781437397, 0.0008194454712793231, 0.005479113664478064, -0.13980603218078613, -0.03825650364160538, 0.0035307372454553843, 0.0008677785517647862, 1.0423773527145386, -0.7797273397445679, -0.22782288491725922, 0.9514706134796143, -1.1195417642593384, -0.769417941570282, -0.12810860574245453, 0.00781644880771637, -0.28094711899757385, 0.0030808430165052414, -0.1924157589673996, 0.003489607712253928, 0.005084626842290163, -0.050203051418066025, 0.003127244533970952, 0.000791066384408623, 0.0036770144943147898, -0.0004096754128113389, 0.002637947676703334, 0.0008615707047283649, -0.0009751235484145582, -0.034227218478918076, 0.0035378283355385065, 0.0008699956815689802, 0.005896549206227064, -0.0575592964887619, -0.03759538382291794, 0.003492798889055848, 0.0008921668631955981, 0.5622998476028442, -1.1070547103881836, 0.5441796779632568, 0.0, -0.051292482763528824, 0.0, -0.8729309439659119], "max": [1.210832118988037, -0.6488605737686157, 8.62864271766739e-06, 1.5700069665908813, 0.016221366822719574, -0.08239969611167908, 0.6981817483901978, 1.0002647638320923, 0.033297348767519, 0.00030910715577192605, -0.003843761747702956, 0.4796111583709717, 0.7973214387893677, 0.07014390081167221, 0.2191680669784546, 0.290535569190979, 0.522157609462738, 0.10453032702207565, 0.1530938595533371, 0.054674044251441956, 0.13814818859100342, 0.08236400038003922, 0.192815899848938, 0.3460698425769806, 0.006013217382133007, 0.0982951894402504, 0.001513833412900567, 0.050623778253793716, 0.04542158171534538, 1.3296765089035034, -0.2063228189945221, -0.0003135073056910187, 1.5693912506103516, 0.21836456656455994, -0.024300772696733475, 0.665597140789032, 1.5528961420059204, 0.00016622299153823406, 0.772202730178833, 0.31465357542037964, 0.3053605258464813, 1.0674446821212769, 0.2484775334596634, 0.1518312692642212, 0.8901843428611755, 1.4689764976501465, 0.2888334095478058, 1.6556774377822876, 1.3082301616668701, 1.4683310985565186, 0.2368888556957245, 1.6548247337341309, 1.3082726001739502, 0.06945062428712845, 1.468497395515442, 0.31458190083503723, 1.6547608375549316, 1.3081809282302856, 0.563066840171814, -1.1063836812973022, 0.6829090714454651, 0.013614079914987087, 0.0, 0.13930462300777435, -0.4716990888118744], "mean": [1.1592459678649902, -0.7625747919082642, -0.1167626678943634, 1.2404674291610718, 0.009889241307973862, -0.2710220217704773, 0.5151166915893555, 0.9434658885002136, 0.02418721653521061, -0.2635253667831421, -0.28716155886650085, 0.46407413482666016, 0.6223279237747192, 0.05714430660009384, 0.19199058413505554, 0.2805514335632324, 0.3387528359889984, 0.09177598357200623, 0.06667713075876236, 0.04570072516798973, 0.09746469557285309, 0.0599818080663681, 0.12385085225105286, 0.32965636253356934, 0.005776438396424055, 0.04415804147720337, -0.02626205049455166, 0.014882753603160381, 0.013052079826593399, 1.1128604412078857, -0.4468288719654083, -0.21713101863861084, 1.1542649269104004, -0.9902265667915344, -0.35506671667099, 0.16674695909023285, 1.3484604358673096, -0.17121869325637817, 0.5324283838272095, -0.045441314578056335, 0.06996851414442062, 0.8693715333938599, 0.1823113113641739, 0.04951907694339752, 0.5508845448493958, 1.3570919036865234, 0.18939681351184845, 1.515179991722107, 1.1623448133468628, 1.3467974662780762, 0.15754728019237518, 1.5170660018920898, 1.1159803867340088, 0.06332419812679291, 1.3394064903259277, 0.2692607343196869, 1.5337878465652466, 1.212570309638977, 0.5626821517944336, -1.106774926185608, 0.6652385592460632, 0.003361611859872937, -0.021565360948443413, 0.10974103212356567, -0.8363528251647949], "std": [0.022906091064214706, 0.023986242711544037, 0.017814652994275093, 0.05392802134156227, 0.010174470022320747, 0.12445616722106934, 0.11639216542243958, 0.1573261320590973, 0.005896206945180893, 0.04474444314837456, 0.04842048138380051, 0.07780086994171143, 0.2011421173810959, 0.01204779651015997, 0.05872922018170357, 0.04726634919643402, 0.13554319739341736, 0.019734743982553482, 0.051423367112874985, 0.01178894005715847, 0.05705032870173454, 0.02432829514145851, 0.05433853715658188, 0.05564797669649124, 0.00010167065920541063, 0.061200205236673355, 0.008068467490375042, 0.0152482520788908, 0.014985433779656887, 0.04510992765426636, 0.141574427485466, 0.034676745533943176, 0.13230766355991364, 0.2961203455924988, 0.1595076471567154, 0.1413348764181137, 0.21787218749523163, 0.04553382098674774, 0.18863946199417114, 0.0973588153719902, 0.0716712474822998, 0.22150564193725586, 0.06602899730205536, 0.033682554960250854, 0.2645352780818939, 0.35650601983070374, 0.058469850569963455, 0.4511726200580597, 0.3589946925640106, 0.38790372014045715, 0.05550317093729973, 0.4485653042793274, 0.3465866148471832, 0.017191849648952484, 0.40674886107444763, 0.08438226580619812, 0.4058820307254791, 0.3209306597709656, 7.865631050663069e-05, 6.761729309801012e-05, 0.020906442776322365, 0.0028141362126916647, 0.008137964643537998, 0.028651269152760506, 0.08173818141222], "count": [1175]}, "observation.state.joint_torque": {"min": [-44.5724983215332, -3.5204999446868896, -20.045000076293945, -6.331999778747559, -0.14880000054836273, -0.9232000112533569, 0.8679999709129333, -0.9946249723434448, -0.45337578654289246, -0.3914472162723541, -0.2671782374382019, -0.11621791869401932, -0.32333946228027344, -0.22835250198841095, -0.08301279693841934, -0.0321076326072216, -0.2532985508441925, -0.2485012412071228, -0.06474998593330383, -0.032821137458086014, -0.45382657647132874, -0.44806981086730957, -0.1062563955783844, -0.04780469834804535, -0.001759204315021634, -0.4144885540008545, -0.3415692448616028, -0.07139100879430771, -0.038529157638549805, 8.970000267028809, -8.02649974822998, -1.309000015258789, -8.196000099182129, -2.4384000301361084, -3.1935999393463135, -3.3336000442504883, -1.8924617767333984, -0.7730311751365662, -0.9842101335525513, -1.2451748847961426, -0.12949997186660767, -0.5593676567077637, -0.8232203125953674, -0.10459613054990768, -0.10702544450759888, -1.1158570051193237, -0.3358124792575836, -0.2556794285774231, -0.1469816118478775, -0.7550984025001526, -0.8088282942771912, -0.48313450813293457, -0.13556556403636932, -0.13545873761177063, -0.6313275098800659, -0.3741910755634308, -0.28058329224586487, -0.08133933693170547, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-9.92549991607666, 14.293499946594238, -2.6489999294281006, 3.446000099182129, 1.9392000436782837, 1.1447999477386475, 3.5095999240875244, 0.5896432399749756, 0.37696412205696106, 0.24729521572589874, 0.4896197021007538, 0.12285894900560379, 0.37802889943122864, 0.17462249100208282, 0.10459613054990768, 0.022832093760371208, 0.41065070033073425, 0.16023053228855133, 0.09629485011100769, 0.022118592634797096, 0.3242989182472229, 0.5871921181678772, 0.12783971428871155, 0.020691584795713425, 0.001759204315021634, 0.5046781897544861, 0.21491999924182892, 0.08965382725000381, 0.01783757284283638, 48.779998779296875, 15.016500473022461, 20.83300018310547, 5.38700008392334, 0.40799999237060547, 2.927999973297119, 2.61680006980896, 2.502481460571289, 3.0411834716796875, 2.272879123687744, 1.8453938961029053, 0.49143579602241516, 2.141524076461792, 0.913409948348999, 1.0575830936431885, 0.21405088901519775, 1.4583855867385864, 0.29935285449028015, 0.6524806022644043, 0.1284305304288864, 0.8913422226905823, 0.2014874964952469, 0.5761088132858276, 0.15197613835334778, 0.14645375311374664, 1.1053028106689453, 0.29743391275405884, 0.23243583738803864, 0.15126264095306396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.337127685546875, 5.2177252769470215, -12.743985176086426, -2.7633144855499268, 0.37104639410972595, -0.08859503269195557, 2.0167617797851562, 0.03983057662844658, -0.010761582292616367, 0.00031516971648670733, -0.022647662088274956, -0.00025999039644375443, 0.06711669266223907, -0.018785914406180382, 0.0033628996461629868, 0.0029912421014159918, 0.049972277134656906, -0.034398604184389114, 0.009900795295834541, -0.0007153257611207664, 0.010474941693246365, 0.07087625563144684, 0.008325308561325073, 0.0003892376262228936, -0.0001235186355188489, 0.08046191930770874, -0.03900989517569542, 0.004822514485567808, -0.0035741920582950115, 24.567365646362305, -0.09480078518390656, 9.93700122833252, -4.080023288726807, -0.5359369516372681, 0.9089028239250183, -1.0508946180343628, -0.01611795276403427, 0.7750447988510132, 0.3530357778072357, 0.2815287709236145, 0.04178480803966522, 0.8243622779846191, -0.01683107204735279, 0.3776893615722656, 0.08886492252349854, 0.00732372747734189, -0.020343080163002014, 0.00030520351720042527, 0.0012369436444714665, -0.00022783309395890683, -0.02977275475859642, 2.9671869924641214e-05, -0.0006369928014464676, 0.0007343778852373362, 0.015091752633452415, -0.030606504529714584, 0.001461029052734375, 0.0017907402943819761, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.3169221878051758, 1.1702851057052612, 0.6990975141525269, 0.7043968439102173, 0.31466466188430786, 0.32834693789482117, 0.2552703022956848, 0.10738680511713028, 0.07550644129514694, 0.04518663510680199, 0.06275386363267899, 0.012035692110657692, 0.06656259298324585, 0.0480717271566391, 0.01738841086626053, 0.005877695046365261, 0.07246914505958557, 0.04709702730178833, 0.01689855568110943, 0.006253146566450596, 0.10718202590942383, 0.12906979024410248, 0.02874794974923134, 0.006906932219862938, 0.00034026309731416404, 0.10593531280755997, 0.07743068039417267, 0.013497484847903252, 0.011710994876921177, 3.535872220993042, 2.568143606185913, 2.4931933879852295, 1.4744268655776978, 0.3256959915161133, 0.9070252776145935, 0.8636982440948486, 0.7312299609184265, 0.8757081627845764, 0.449835866689682, 0.5022933483123779, 0.08705862611532211, 0.7911538481712341, 0.30855563282966614, 0.391035258769989, 0.0979139655828476, 0.0746849775314331, 0.06432531028985977, 0.022617220878601074, 0.011381424963474274, 0.06339266151189804, 0.05888504162430763, 0.024703769013285637, 0.012931009754538536, 0.01612268015742302, 0.0742034763097763, 0.08284804970026016, 0.020067784935235977, 0.007359661627560854, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1175]}, "observation.state.tcp": {"min": [0.3618590235710144, 0.18856163322925568, 0.9521600008010864, -1.332087516784668, 1.2046661376953125, -1.4142329692840576, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3455526828765869, -0.239027202129364, 0.8975470066070557, -0.19418896734714508, 1.2182451486587524, 0.7065503597259521, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.47309544682502747, 0.26171648502349854, 1.0518081188201904, -0.9607130885124207, 1.691046118736267, -1.228319525718689, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4811650812625885, -0.023687129840254784, 1.0517774820327759, 1.4221880435943604, 2.179508686065674, 1.4246834516525269, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4460989832878113, 0.2465699315071106, 0.9781827330589294, -1.1994799375534058, 1.4482778310775757, -1.3571547269821167, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3969293534755707, -0.10663103312253952, 0.9227928519248962, 0.14648500084877014, 1.9256013631820679, 1.024989366531372, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01655040867626667, 0.012908637523651123, 0.016342852264642715, 0.09718849509954453, 0.14054720103740692, 0.03462210297584534, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.023030363023281097, 0.05917732045054436, 0.031325824558734894, 0.3192931115627289, 0.18469220399856567, 0.1696583777666092, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1175]}, "action": {"min": [1.0499999523162842, -0.8161861300468445, -0.13872192800045013, 1.128844976425171, -0.008532898500561714, -0.7699999809265137, 0.35306641459465027, 0.0, 0.0, -0.2743673622608185, -0.32375508546829224, 0.0, 0.0, 0.0, 0.0, 0.0, -0.16595458984375, 0.0, 0.0, 0.0, -0.12555749714374542, -0.024820633232593536, 0.0, 0.0, 0.0, -0.14940567314624786, -0.1605779528617859, 0.0, 0.0, 1.0424517393112183, -0.7793921828269958, -0.22779962420463562, 0.9515619874000549, -1.1194396018981934, -0.7682868838310242, -0.12849970161914825, 0.0, -0.27974066138267517, 0.0, -0.19825607538223267, -0.14941361546516418, 0.0, -0.052911706268787384, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.05022723227739334, 0.0, 0.0, 0.0, -0.06281669437885284, -0.11532551795244217, 0.0, 0.0, 0.5626833438873291, -1.1069231033325195, 0.5442397594451904, -0.00020384455274324864, -0.05143357068300247, 0.0, -0.8726646304130554], "max": [1.2108182907104492, -0.648979663848877, 0.0, 1.5700000524520874, 0.0162031427025795, -0.08322739601135254, 0.7610348463058472, 1.0095510482788086, 0.031553201377391815, 0.0, 0.0, 0.4822549521923065, 0.8076058626174927, 0.07162850350141525, 0.22691896557807922, 0.29551175236701965, 0.531257152557373, 0.10278742760419846, 0.15606829524040222, 0.05945131555199623, 0.14145374298095703, 0.08687227219343185, 0.19738714396953583, 0.34918221831321716, 0.016413593664765358, 0.106577567756176, 0.0, 0.05583689361810684, 0.04774510860443115, 1.3296966552734375, -0.20620372891426086, -0.00159293576143682, 1.5671970844268799, 0.2183079719543457, -0.02422959730029106, 0.6699840426445007, 1.5599284172058105, 0.0, 0.775855541229248, 0.3490658402442932, 0.310301274061203, 1.0744577646255493, 0.24707740545272827, 0.15032987296581268, 0.8863048553466797, 1.5707963705062866, 0.2971235513687134, 1.7453292608261108, 1.3867664337158203, 1.5707963705062866, 0.250241219997406, 1.7453292608261108, 1.3962633609771729, 0.08206989616155624, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106767177581787, 0.6835713982582092, 0.014127377420663834, 0.0, 0.1408337950706482, -0.4717252850532532], "mean": [1.1592614650726318, -0.7625586986541748, -0.11677512526512146, 1.2402355670928955, 0.00989295169711113, -0.27128347754478455, 0.5202516317367554, 0.9486185908317566, 0.023228731006383896, -0.26245880126953125, -0.2949887216091156, 0.4658428430557251, 0.6274436116218567, 0.05666302517056465, 0.19569748640060425, 0.28306758403778076, 0.34287041425704956, 0.09013708680868149, 0.06950944662094116, 0.04762132838368416, 0.09956037253141403, 0.06405217945575714, 0.12581375241279602, 0.3313369154930115, 0.011254662647843361, 0.04876675456762314, -0.0412292554974556, 0.017173361033201218, 0.014041977003216743, 1.1129841804504395, -0.4470137357711792, -0.2171754240989685, 1.1540895700454712, -0.9912887215614319, -0.35492879152297974, 0.16698016226291656, 1.3478126525878906, -0.16802184283733368, 0.5308302640914917, -0.04369717463850975, 0.050578679889440536, 0.8773264288902283, 0.18649058043956757, 0.05089585483074188, 0.5676488280296326, 1.449906826019287, 0.18952582776546478, 1.5958486795425415, 1.168208122253418, 1.4389146566390991, 0.15564841032028198, 1.5994709730148315, 1.1236903667449951, 0.072722889482975, 1.436279535293579, 0.2720061242580414, 1.6129670143127441, 1.2898521423339844, 0.5626831650733948, -1.106775164604187, 0.6652862429618835, 0.003401608671993017, -0.0216106865555048, 0.10979197174310684, -0.83632493019104], "std": [0.02274106815457344, 0.02405608259141445, 0.01777458004653454, 0.05387132987380028, 0.010171554051339626, 0.12475048750638962, 0.12492748349905014, 0.17670279741287231, 0.00582321360707283, 0.04938654229044914, 0.056211914867162704, 0.08745139092206955, 0.21051929891109467, 0.012602441944181919, 0.06267063319683075, 0.053164802491664886, 0.1424601823091507, 0.0202377550303936, 0.05553102865815163, 0.012680131942033768, 0.059480588883161545, 0.02656656503677368, 0.05593922361731529, 0.06222541257739067, 0.006292723584920168, 0.06489357352256775, 0.03268073499202728, 0.018749631941318512, 0.01646653562784195, 0.04510284960269928, 0.14162731170654297, 0.034553706645965576, 0.13213294744491577, 0.2934890687465668, 0.15974853932857513, 0.14168308675289154, 0.23944149911403656, 0.049500856548547745, 0.19517426192760468, 0.10459628701210022, 0.0990462526679039, 0.233199343085289, 0.06960535794496536, 0.03528035059571266, 0.27551910281181335, 0.39339032769203186, 0.059545278549194336, 0.47914355993270874, 0.362594336271286, 0.4236232042312622, 0.05861534923315048, 0.4783995747566223, 0.35219836235046387, 0.02213400974869728, 0.4375488758087158, 0.09951654821634293, 0.4442138075828552, 0.35677728056907654, 1.802286959673438e-07, 2.1400725017883815e-05, 0.021237239241600037, 0.0028505853842943907, 0.00833199080079794, 0.02874285727739334, 0.08194803446531296], "count": [1175]}, "observation.state.tcp_pose": {"min": [0.3618590235710144, 0.18856163322925568, 0.9521600008010864, -1.332087516784668, 1.2046661376953125, -1.4142329692840576, 0.3455526828765869, -0.239027202129364, 0.8975470066070557, -0.19418896734714508, 1.2182451486587524, 0.7065503597259521], "max": [0.47309544682502747, 0.26171648502349854, 1.0518081188201904, -0.9607130885124207, 1.691046118736267, -1.228319525718689, 0.4811650812625885, -0.023687129840254784, 1.0517774820327759, 1.4221880435943604, 2.179508686065674, 1.4246834516525269], "mean": [0.4460989832878113, 0.2465699315071106, 0.9781827330589294, -1.1994799375534058, 1.4482778310775757, -1.3571547269821167, 0.3969293534755707, -0.10663103312253952, 0.9227928519248962, 0.14648500084877014, 1.9256013631820679, 1.024989366531372], "std": [0.01655040867626667, 0.012908637523651123, 0.016342852264642715, 0.09718849509954453, 0.14054720103740692, 0.03462210297584534, 0.023030363023281097, 0.05917732045054436, 0.031325824558734894, 0.3192931115627289, 0.18469220399856567, 0.1696583777666092], "count": [1175]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.18420764803886414, 0.9544826745986938, -1.3284753561019897, 1.1614254713058472, -1.4185389280319214, 0.34558388590812683, -0.23769640922546387, 0.8976293206214905, -0.19387920200824738, 1.2212436199188232, 0.7064970135688782], "max": [0.4714113473892212, 0.26134809851646423, 1.0518032312393188, -0.9153130054473877, 1.6929739713668823, -1.2289544343948364, 0.48048844933509827, -0.023537473753094673, 1.051482081413269, 1.4278723001480103, 2.179866313934326, 1.4319331645965576], "mean": [0.4461153447628021, 0.24661023914813995, 0.9784995317459106, -1.195825219154358, 1.4442377090454102, -1.359205722808838, 0.3969676196575165, -0.10675149410963058, 0.9228034615516663, 0.14527234435081482, 1.9256716966629028, 1.02491295337677], "std": [0.0165408868342638, 0.012872259132564068, 0.016525208950042725, 0.10337989032268524, 0.14621900022029877, 0.03225613012909889, 0.023020144551992416, 0.059275273233652115, 0.03131531924009323, 0.3176352083683014, 0.18383222818374634, 0.16987721621990204], "count": [1175]}, "subtask_index": {"min": [64], "max": [269], "mean": [253.2740425531915], "std": [25.681879667038228], "count": [1175]}, "observation.tactile": {"min": [-0.014518520794808865, -3.242895763833076e-05, -7.341441960306838e-05, -0.0010671106865629554, -0.00016550601867493242, -0.00025671301409602165, -0.007956933230161667, -2.659593701537233e-05, -5.5837805120972916e-05, -0.0012036559637635946, -2.1692543668905273e-05, -0.0001722722518024966, -0.011381633579730988, -3.602967626648024e-05, -7.902594370534644e-05, -0.0006445370963774621, -4.935601100442e-05, -0.000238361579249613, -0.008280648849904537, -3.6051456845598295e-05, -7.87331082392484e-05, -0.000875619356520474, -0.00010775941336760297, -0.00016130624862853438, -0.0028897179290652275, -5.5099160817917436e-05, -0.00012473981769289821, -0.00048533538938499987, -6.057397331460379e-05, -3.671862214105204e-05, -3.7055253982543945, -4.055329191032797e-05, -8.944296860136092e-05, -0.147675022482872, -0.020661326125264168, -0.044927679002285004, -3.568986177444458, 0.0, 0.0, -0.3066892921924591, -0.026512473821640015, -0.06412412971258163, -0.005713272374123335, -5.7667737564770505e-05, -0.00012833334039896727, -0.001044838223606348, -3.094276326010004e-05, -0.00013417992158792913, -0.012710357084870338, -3.643845411716029e-05, -7.908554835012183e-05, -0.0015338269295170903, -0.00010843492054846138, -0.0003136286395601928, -0.004954655654728413, -3.7952213460812345e-05, -8.304333459818736e-05, -0.0008840400842018425, -4.683484075940214e-05, -0.00010265130549669266], "max": [0.0007121785311028361, 0.020640460774302483, 0.059745702892541885, 1.4112416693023988e-06, 0.00015336467185989022, 5.658201189362444e-06, 0.010836610570549965, 0.02119842916727066, 0.05966859310865402, 1.0255328106723027e-06, 0.00036642717896029353, 0.00010116523480974138, 0.0012440180871635675, 0.011005950160324574, 0.032661210745573044, 1.4783764754611184e-06, 7.860164623707533e-05, 5.794497155875433e-06, 0.00029103655833750963, 0.015486342832446098, 0.0420699268579483, 1.4166977280183346e-06, 7.447346433764324e-05, 6.037002549419412e-06, 0.0010565521661192179, 0.009678040631115437, 0.027462344616651535, 2.372508106418536e-06, 5.431676618172787e-05, 1.0010097867052536e-05, 6.53444242477417, 7.8960161209106445, 9.83840560913086, 1.6322835563187255e-06, 0.028270622715353966, 0.14294008910655975, 7.776793479919434, 15.97140121459961, 18.098222732543945, 0.0, 0.013610626570880413, 0.13827118277549744, 0.001823892118409276, 0.01704082265496254, 0.04999427869915962, 2.343042979191523e-06, 0.00011863174586324021, 1.0314407518308144e-05, 0.041860178112983704, 0.03360239416360855, 0.10210838168859482, 1.4607520597564871e-06, 0.0004200074472464621, 0.0006254016188904643, 0.0010347920469939709, 0.014273147098720074, 0.041615039110183716, 1.582203140060301e-06, 0.00010854723223019391, 8.549861377105117e-06], "mean": [-0.00046974385622888803, 0.0015443749725818634, 0.0045541441068053246, -7.211426418507472e-05, -2.0773773030668963e-06, -5.724233687942615e-06, -0.0008863318944349885, 0.0037535664159804583, 0.01096432190388441, -0.00021967342763673514, 1.9259181499364786e-05, -2.417504583718255e-05, -0.00024246893008239567, 0.0006733453483320773, 0.0019577268976718187, -3.3034059015335515e-05, 2.0786951608897652e-06, -4.570717919705203e-06, -0.0004495178291108459, 0.0023157091345638037, 0.006679965648800135, -0.00013695217785425484, 1.0110947187058628e-05, -1.2640059139812365e-05, 0.00021253855084069073, 0.0007743148598819971, 0.0022922554053366184, -4.436136077856645e-05, 3.0943424462748226e-06, 3.2816326438478427e-06, 1.6626702547073364, 2.0321404933929443, 2.3856256008148193, -0.04905856400728226, 0.005726098082959652, 0.032928768545389175, 0.49606549739837646, 3.5156517028808594, 6.324711322784424, -0.12968850135803223, -0.003556852461770177, 0.012000017799437046, -0.0007659094408154488, 0.0032809406984597445, 0.009574949741363525, -0.00019052678544539958, 6.917294285813114e-06, -1.8477265257388353e-05, 0.0010452972492203116, 0.007392318453639746, 0.021693607792258263, -0.0003489504742901772, 3.727528383024037e-05, 5.352596417651512e-06, -0.00021931661467533559, 0.0017040250822901726, 0.005068906582891941, -9.089629747904837e-05, 6.7658261286851484e-06, -6.2892768255551346e-06], "std": [0.0015857064863666892, 0.0028359927237033844, 0.008218958973884583, 0.00014129476039670408, 3.0603659979533404e-05, 2.4068411221378483e-05, 0.0017709872918203473, 0.004809372127056122, 0.013967687264084816, 0.000283274392131716, 2.8855862183263525e-05, 3.806313907261938e-05, 0.0013012037379667163, 0.001657244749367237, 0.004811492748558521, 8.397437341045588e-05, 1.1051569344999734e-05, 2.6494850317249075e-05, 0.0008268658421002328, 0.0026493845507502556, 0.00754765048623085, 0.00015822930436115712, 1.7591240975889377e-05, 1.844986036303453e-05, 0.00032974578789435327, 0.0015376212541013956, 0.0044400314800441265, 8.344880916411057e-05, 9.23066272662254e-06, 7.68164227338275e-06, 2.095315456390381, 1.9720361232757568, 2.2083911895751953, 0.046542637050151825, 0.010901768691837788, 0.04398055002093315, 1.8952521085739136, 3.5516483783721924, 5.823680877685547, 0.11576281487941742, 0.007698246277868748, 0.03682946786284447, 0.0011970034101977944, 0.0033907140605151653, 0.009794091805815697, 0.00019991700537502766, 1.6673218851792626e-05, 2.6226683985441923e-05, 0.005828829947859049, 0.006259273272007704, 0.018500924110412598, 0.0003047832287847996, 7.96576714492403e-05, 8.491516200592741e-05, 0.0007254961528815329, 0.0020491662435233593, 0.00598078453913331, 0.00011670841195154935, 1.2314380001043901e-05, 1.5141044968913775e-05], "count": [1175]}, "timestamp": {"min": [0.0], "max": [39.13333333333333], "mean": [19.566666666666666], "std": [11.306438676946668], "count": [1175]}, "frame_index": {"min": [0], "max": [1174], "mean": [587.0], "std": [339.1931603084001], "count": [1175]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1175]}, "index": {"min": [14362], "max": [15536], "mean": [14949.0], "std": [339.1931603084001], "count": [1175]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1175]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5436938405036926]], [[0.5435609221458435]], [[0.5455068349838257]]], "std": [[[0.30083176493644714]], [[0.3009669780731201]], [[0.3022424578666687]]], "count": [1175]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2577386498451233]], [[0.25892072916030884]], [[0.2581925392150879]]], "std": [[[0.1591302752494812]], [[0.16123636066913605]], [[0.16035030782222748]]], "count": [1175]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.19337432086467743]], [[0.19458860158920288]], [[0.1932138055562973]]], "std": [[[0.13354884088039398]], [[0.13498219847679138]], [[0.1382943093776703]]], "count": [1175]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.543249249458313]], [[0.5432122349739075]], [[0.5451473593711853]]], "std": [[[0.2993803322315216]], [[0.2996205985546112]], [[0.3013931214809418]]], "count": [1175]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5921568870544434]], [[0.5921568870544434]], [[0.5921568870544434]]], "mean": [[[0.00220700865611434]], [[0.00220700865611434]], [[0.00220700865611434]]], "std": [[[0.028115062043070793]], [[0.028115062043070793]], [[0.028115062043070793]]], "count": [1175]}, "observation.images.tactile_raw": {"min": [[[0.027450980618596077]], [[0.027450980618596077]], [[0.027450980618596077]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4683324694633484]], [[0.4683324694633484]], [[0.4683324694633484]]], "std": [[[0.23560240864753723]], [[0.23560240864753723]], [[0.23560240864753723]]], "count": [1175]}}}
+{"episode_index": 9, "stats": {"observation.state": {"min": [1.0499765872955322, -0.7800271511077881, -0.16945993900299072, 1.0715513229370117, -0.06766940653324127, -0.7700490951538086, 0.5075375437736511, 0.006285030394792557, -0.017318440601229668, -0.27585741877555847, -0.29937365651130676, 0.003087179036810994, -0.011169400997459888, 3.4098437026841566e-05, 0.0034218861255794764, 0.0008345218957401812, -0.17131958901882172, 0.0004268471384420991, 0.0034410327207297087, 0.0008513719658367336, -0.13923101127147675, -0.03258214518427849, 0.003106325399130583, 0.0008110204944387078, 0.005556178744882345, -0.14180950820446014, -0.03822166472673416, 0.0035403103101998568, 0.000850485113915056, 1.0505603551864624, -0.7794694900512695, -0.22791647911071777, 0.8887366056442261, -1.1398762464523315, -0.7690219879150391, 0.1415068507194519, 0.0063520618714392185, -0.21072451770305634, 0.003088229801505804, -0.28053322434425354, 0.0034584063105285168, 0.00693135242909193, -0.08118722587823868, 0.003130081109702587, 0.000748941267374903, 0.003673334838822484, -0.00033117394195869565, 0.00267907720990479, 0.0008221060270443559, -0.001572709297761321, -0.023883789777755737, 0.0035598112735897303, 0.0008589101489633322, 0.005780952051281929, -0.06617718189954758, -0.03835511952638626, 0.003489253344014287, 0.0008850721060298383, 0.5622998476028442, -1.1070547103881836, 0.5441796779632568, 0.0, -0.0325012169778347, -9.58738019107841e-05, -0.8729309439659119], "max": [1.2520759105682373, -0.6280713677406311, 8.388957439819933e-07, 1.5699865818023682, 4.314320904086344e-05, -0.20261046290397644, 0.6981772780418396, 1.0698189735412598, 0.025226620957255363, 0.0003390327619854361, -0.0038589141331613064, 0.4796065390110016, 0.6830481886863708, 0.09356553107500076, 0.2191503345966339, 0.2951422929763794, 0.5405228137969971, 0.12984918057918549, 0.09269513934850693, 0.054652754217386246, 0.20605877041816711, 0.09647569060325623, 0.2121984362602234, 0.33684974908828735, 0.005880494136363268, 0.14922045171260834, 0.0063698249869048595, 0.14255838096141815, 0.12865649163722992, 1.335120439529419, -0.25028175115585327, -0.000560502172447741, 1.5685988664627075, 0.06294701993465424, -0.010121637023985386, 0.6981382966041565, 1.503125786781311, 0.00011599461868172511, 0.807500958442688, 0.31474584341049194, 0.5731781721115112, 1.0208971500396729, 0.22191660106182098, 0.1773441880941391, 0.7360935211181641, 1.4689321517944336, 0.27314385771751404, 1.6556801795959473, 1.3082433938980103, 1.4682530164718628, 0.21770481765270233, 1.6548384428024292, 1.3082633018493652, 0.10046183317899704, 1.468759536743164, 0.3146485388278961, 1.6656264066696167, 1.308174729347229, 0.5636420845985413, -1.1060001850128174, 0.7007415890693665, 0.02665291540324688, 0.01764077879488468, 0.17429856956005096, -0.5998823642730713], "mean": [1.1942675113677979, -0.7064086198806763, -0.15385428071022034, 1.1093010902404785, -0.06532502174377441, -0.3193751871585846, 0.5886908769607544, 1.0136131048202515, 0.016672559082508087, -0.26404011249542236, -0.27727559208869934, 0.4636761546134949, 0.48811760544776917, 0.06927081942558289, 0.16113443672657013, 0.28065890073776245, 0.31716981530189514, 0.09611114114522934, 0.03621432185173035, 0.04997821897268295, 0.1510898470878601, 0.06454881280660629, 0.11268866807222366, 0.32471972703933716, 0.005718679167330265, 0.08463452011346817, -0.014480087906122208, 0.06978724896907806, 0.060958750545978546, 1.105852723121643, -0.5013741850852966, -0.2190922200679779, 1.1654237508773804, -0.9699288606643677, -0.2667129635810852, 0.3577515482902527, 1.3202232122421265, -0.1393854320049286, 0.5393228530883789, -0.027692176401615143, 0.07766269892454147, 0.8130403757095337, 0.13988253474235535, 0.03596542403101921, 0.45506715774536133, 1.3396445512771606, 0.15998375415802002, 1.4720271825790405, 1.1389130353927612, 1.3314496278762817, 0.12411458790302277, 1.4963147640228271, 1.0764951705932617, 0.06928534805774689, 1.3204162120819092, 0.24363973736763, 1.5302015542984009, 1.2096906900405884, 0.5626821517944336, -1.1067620515823364, 0.6764929890632629, 0.021383186802268028, 0.002475438639521599, 0.14976339042186737, -0.8530418276786804], "std": [0.02838495373725891, 0.017188888043165207, 0.02507464401423931, 0.07411838322877884, 0.010272669605910778, 0.09255492687225342, 0.06081044673919678, 0.16769427061080933, 0.007258645258843899, 0.044890936464071274, 0.046509820967912674, 0.07802519202232361, 0.17065629363059998, 0.019295180216431618, 0.08254683762788773, 0.0476229190826416, 0.193158820271492, 0.02661529742181301, 0.020165979862213135, 0.011592057533562183, 0.08234956115484238, 0.031356774270534515, 0.07533711194992065, 0.05517887696623802, 5.982554648653604e-05, 0.07281412184238434, 0.014118584804236889, 0.05269530415534973, 0.04638798534870148, 0.0443977490067482, 0.11054842919111252, 0.03283777832984924, 0.13727200031280518, 0.2805832326412201, 0.16472549736499786, 0.1247473880648613, 0.20929895341396332, 0.03171249479055405, 0.19454316794872284, 0.1092834398150444, 0.13290756940841675, 0.22253768146038055, 0.06228749826550484, 0.023846514523029327, 0.2426861971616745, 0.38864707946777344, 0.04965515807271004, 0.49034029245376587, 0.3772621750831604, 0.407937228679657, 0.044562794268131256, 0.476019948720932, 0.3577249348163605, 0.022859804332256317, 0.43822839856147766, 0.08183488249778748, 0.3974205553531647, 0.31322312355041504, 0.00011963368160650134, 9.158682951238006e-05, 0.0264995489269495, 0.005729753524065018, 0.01067516952753067, 0.033068493008613586, 0.05775915086269379], "count": [1032]}, "observation.state.joint_torque": {"min": [-39.64350128173828, -1.2480000257492065, -16.915000915527344, -5.517000198364258, -0.1151999980211258, -0.2831999957561493, 0.5920000076293945, -0.7348253726959229, -0.42790526151657104, -0.22492681443691254, -0.21249991655349731, -0.1062563955783844, -0.23314981162548065, -0.22643356025218964, -0.0879935771226883, -0.032821137458086014, -0.357880175113678, -0.23794712126255035, -0.09131408482789993, -0.03139413148164749, -0.591029942035675, -0.42504265904426575, -0.11787818372249603, -0.04780469834804535, -0.0013194032944738865, -0.3358124792575836, -0.2840014100074768, -0.10293588042259216, -0.04066966846585274, -2.0820000171661377, -11.314499855041504, -12.13700008392334, -10.534000396728516, -3.6152000427246094, -4.6479997634887695, -3.620800018310547, -1.6339359283447266, -0.7042607069015503, -1.2302626371383667, -1.1059937477111816, -0.1145576685667038, -0.6533951163291931, -0.8414501547813416, -0.19757047295570374, -0.21333740651607513, -0.984410285949707, -0.34444767236709595, -0.6192755699157715, -0.10417144000530243, -0.5919894576072693, -0.6438004970550537, -0.08467306196689606, -0.045664187520742416, -0.490378201007843, -0.6706655025482178, -0.5632055401802063, -0.8400895595550537, -0.12629002332687378, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-10.396499633789062, 12.680999755859375, -2.6649999618530273, 2.5759999752044678, 1.8128000497817993, 1.2192000150680542, 3.293600082397461, 1.1627305746078491, 0.3476730287075043, 0.2398390918970108, 0.44364017248153687, 0.11953844130039215, 0.4806915819644928, 0.24946071207523346, 0.10957689583301544, 0.022118592634797096, 0.30415016412734985, 0.17174409329891205, 0.11123716086149216, 0.02354559674859047, 0.342528760433197, 0.4902862310409546, 0.11787818372249603, 0.022118592634797096, 0.0013194032944738865, 0.46054282784461975, 0.2859203517436981, 0.09297433495521545, 0.020691584795713425, 50.25600051879883, 9.510000228881836, 19.198999404907227, 5.080999851226807, 0.628000020980835, 2.586400032043457, 8.38640022277832, 2.4553608894348145, 3.2131099700927734, 1.9261690378189087, 1.6154963970184326, 0.2025512456893921, 2.145362138748169, 2.152078151702881, 1.0592433214187622, 0.21405088901519775, 1.5149940252304077, 0.25042015314102173, 0.2822435200214386, 0.13128454983234406, 0.8740718960762024, 0.27632570266723633, 0.30548715591430664, 0.14198710024356842, 0.12314429879188538, 0.6572329998016357, 0.5555298328399658, 0.10957689583301544, 0.12629002332687378, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.6082820892334, 5.723788261413574, -12.087884902954102, -1.2360823154449463, 0.462655633687973, 0.23935671150684357, 2.0797553062438965, 0.053805358707904816, -0.009594653733074665, 0.0007513939635828137, -0.01675945706665516, 0.00043436780106276274, 0.050349533557891846, 0.018893657252192497, 0.00714297266677022, 0.0009658565977588296, 0.05648193508386612, -0.03813312575221062, 0.0007159059168770909, -0.00044179067481309175, 0.051955148577690125, 0.053866710513830185, 0.013043961487710476, 0.00014311610721051693, 2.8126805773354135e-05, 0.08132028579711914, -0.0008534741355106235, 0.008495952934026718, 0.0030206346418708563, 23.42067527770996, 0.12653927505016327, 9.375452995300293, -4.190237522125244, -0.3537505865097046, 0.7198514938354492, -0.8862854838371277, 0.24013270437717438, 0.8377898931503296, 0.39217227697372437, 0.22135525941848755, -0.0021091073285788298, 0.8187429308891296, -0.039715398102998734, 0.3384738862514496, 0.07133239507675171, 0.004435648676007986, -0.019394751638174057, 0.0004874567675869912, 0.0019033667631447315, -0.0026301599573343992, -0.032499946653842926, 0.0005711142439395189, -0.002034727716818452, -0.008281214162707329, 0.018011320382356644, -0.05256883427500725, -0.010257546789944172, 0.002502795308828354, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.3725850582122803, 1.2115846872329712, 0.7582586407661438, 0.781610906124115, 0.2000848650932312, 0.25264737010002136, 0.22203072905540466, 0.12172696739435196, 0.07364897429943085, 0.040076691657304764, 0.06083466857671738, 0.011853515170514584, 0.06674272567033768, 0.047576386481523514, 0.01669909432530403, 0.004830630496144295, 0.06799299269914627, 0.04651140049099922, 0.015182669274508953, 0.005419963970780373, 0.10882659256458282, 0.09835277497768402, 0.025464432314038277, 0.005517724901437759, 0.0003347246674820781, 0.09424425661563873, 0.06453020125627518, 0.017088452354073524, 0.010464929975569248, 5.00008487701416, 2.5383236408233643, 3.650024890899658, 1.9997588396072388, 0.6225215792655945, 0.9904853701591492, 1.5361449718475342, 0.7804802656173706, 1.015805959701538, 0.5391916036605835, 0.4491320848464966, 0.029878217726945877, 0.9262114763259888, 0.4131866991519928, 0.4226037859916687, 0.10269544273614883, 0.08530815690755844, 0.079588882625103, 0.03854997828602791, 0.01037510298192501, 0.058568306267261505, 0.07312612980604172, 0.014875968918204308, 0.012708877213299274, 0.05337510630488396, 0.09617346525192261, 0.12825307250022888, 0.09085321426391602, 0.008411032147705555, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1032]}, "observation.state.tcp": {"min": [0.36199575662612915, 0.1896297186613083, 0.9594759345054626, -1.2107840776443481, 1.2022528648376465, -1.3182302713394165, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.35611870884895325, -0.23132145404815674, 0.8811264634132385, -0.26111677289009094, 1.2185133695602417, 0.813636839389801, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.47593316435813904, 0.2867765426635742, 1.0518256425857544, -0.853286623954773, 1.5021549463272095, -1.2116029262542725, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49508193135261536, -0.009461404755711555, 1.051750898361206, 1.2663888931274414, 2.1728291511535645, 1.519235610961914, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.465602844953537, 0.27148494124412537, 0.9835916757583618, -1.0357187986373901, 1.3896989822387695, -1.2320002317428589, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.39154961705207825, -0.11369803547859192, 0.913822591304779, 0.06470227241516113, 1.9244555234909058, 1.2350355386734009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.016281191259622574, 0.018778715282678604, 0.017064815387129784, 0.0676528587937355, 0.07455291599035263, 0.017913322895765305, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.028373958542943, 0.049538858234882355, 0.03678004443645477, 0.32821789383888245, 0.2017725259065628, 0.1468198299407959, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1032]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.1696225255727768, 1.0715019702911377, -0.0675920620560646, -0.7699999809265137, 0.5075042247772217, 0.0, -0.02520424872636795, -0.27449676394462585, -0.301608145236969, 0.0, -0.025613391771912575, 0.0, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.16809235513210297, -0.039201803505420685, 0.0, 0.0, 0.0, -0.1498369723558426, -0.1692066788673401, 0.0, 0.0, 1.050832748413086, -0.7785322070121765, -0.22789549827575684, 0.8886294960975647, -1.139860987663269, -0.7662503719329834, 0.14133356511592865, 0.0, -0.21051965653896332, 0.0, -0.2820497155189514, -0.1745329201221466, 0.0, -0.08100266009569168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.0338328555226326, 0.0, 0.0, 0.0, -0.06816630065441132, -0.08742625266313553, 0.0, 0.0, 0.5626833438873291, -1.1069231033325195, 0.5442397594451904, 0.0, -0.033606331795454025, 0.0, -0.8726646304130554], "max": [1.252049446105957, -0.6280357241630554, 0.0, 1.5700000524520874, 0.0, -0.2012690305709839, 0.7682024836540222, 1.0833739042282104, 0.023116521537303925, 0.0, 0.0, 0.4822549521923065, 0.6910582780838013, 0.09329598397016525, 0.22704948484897614, 0.29738134145736694, 0.5454198122024536, 0.1337546706199646, 0.09869103878736496, 0.05945131555199623, 0.21128706634044647, 0.10374610871076584, 0.21602047979831696, 0.34158897399902344, 0.020028019323945045, 0.1607939451932907, 0.010460786521434784, 0.15140382945537567, 0.12988972663879395, 1.335898518562317, -0.2502536177635193, -0.0023438900243490934, 1.5662120580673218, 0.06289417296648026, -0.00999787263572216, 0.7741103172302246, 1.5092017650604248, 0.0, 0.8104658126831055, 0.3490658402442932, 0.5770220160484314, 1.1152998208999634, 0.23998278379440308, 0.18871860206127167, 0.9551904201507568, 1.5707963705062866, 0.2822631597518921, 1.7453292608261108, 1.369221568107605, 1.5707963705062866, 0.23116248846054077, 1.7453292608261108, 1.3962633609771729, 0.08097117394208908, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5627790093421936, -1.106767177581787, 0.7019585967063904, 0.027283165603876114, 0.01789882220327854, 0.17460177838802338, -0.6000000238418579], "mean": [1.1942667961120605, -0.706360399723053, -0.15386377274990082, 1.1092361211776733, -0.06532422453165054, -0.3195882737636566, 0.5903139710426331, 1.0205211639404297, 0.016436537727713585, -0.26309680938720703, -0.284089595079422, 0.4654381275177002, 0.4921731948852539, 0.06901782006025314, 0.1638326346874237, 0.28272053599357605, 0.3219881057739258, 0.09607196599245071, 0.036378830671310425, 0.05224081501364708, 0.15421722829341888, 0.06672969460487366, 0.11527913808822632, 0.32776209712028503, 0.014495543204247952, 0.09091118723154068, -0.030278144404292107, 0.07406672835350037, 0.06252237409353256, 1.1059486865997314, -0.5013999938964844, -0.21910394728183746, 1.165318250656128, -0.9705624580383301, -0.26686644554138184, 0.35909274220466614, 1.3184441328048706, -0.13647966086864471, 0.5379924178123474, -0.026822276413440704, 0.03517448529601097, 0.8376269936561584, 0.13831819593906403, 0.03728581964969635, 0.48579761385917664, 1.4286153316497803, 0.1590508073568344, 1.5523288249969482, 1.1529780626296997, 1.4192938804626465, 0.12248573452234268, 1.5813086032867432, 1.0853849649429321, 0.0690915510058403, 1.4146748781204224, 0.23967701196670532, 1.6091197729110718, 1.2872835397720337, 0.5626845359802246, -1.1067695617675781, 0.6765316724777222, 0.021427510306239128, 0.002494547748938203, 0.14981085062026978, -0.8529056310653687], "std": [0.02820185013115406, 0.017228970304131508, 0.02507530339062214, 0.07447898387908936, 0.010279100388288498, 0.09306483715772629, 0.06402552127838135, 0.1889399290084839, 0.007000966463238001, 0.0500895231962204, 0.0541723296046257, 0.08848670870065689, 0.1796589344739914, 0.020194130018353462, 0.08495772629976273, 0.05379001423716545, 0.2001064568758011, 0.027690401300787926, 0.022597985342144966, 0.013072965666651726, 0.08720307797193527, 0.0331578403711319, 0.0785687267780304, 0.062369976192712784, 0.006786479149013758, 0.07822123914957047, 0.04363926872611046, 0.054341066628694534, 0.04775108024477959, 0.04434875771403313, 0.11030007153749466, 0.03285112604498863, 0.13713379204273224, 0.27919498085975647, 0.1648334413766861, 0.12674479186534882, 0.23572486639022827, 0.03516799584031105, 0.1997157484292984, 0.11641782522201538, 0.15896762907505035, 0.247334286570549, 0.06883402913808823, 0.025897033512592316, 0.27802231907844543, 0.42541638016700745, 0.05021601542830467, 0.5206881165504456, 0.38258102536201477, 0.44275739789009094, 0.04596339538693428, 0.5036990642547607, 0.36376842856407166, 0.022834261879324913, 0.47066596150398254, 0.0884605348110199, 0.43347662687301636, 0.34677428007125854, 1.0093980563397054e-05, 2.0345767552498728e-05, 0.026795096695423126, 0.005762260872870684, 0.010803003795444965, 0.03322693333029747, 0.058064598590135574], "count": [1032]}, "observation.state.tcp_pose": {"min": [0.36199575662612915, 0.1896297186613083, 0.9594759345054626, -1.2107840776443481, 1.2022528648376465, -1.3182302713394165, 0.35611870884895325, -0.23132145404815674, 0.8811264634132385, -0.26111677289009094, 1.2185133695602417, 0.813636839389801], "max": [0.47593316435813904, 0.2867765426635742, 1.0518256425857544, -0.853286623954773, 1.5021549463272095, -1.2116029262542725, 0.49508193135261536, -0.009461404755711555, 1.051750898361206, 1.2663888931274414, 2.1728291511535645, 1.519235610961914], "mean": [0.465602844953537, 0.27148494124412537, 0.9835916757583618, -1.0357187986373901, 1.3896989822387695, -1.2320002317428589, 0.39154961705207825, -0.11369803547859192, 0.913822591304779, 0.06470227241516113, 1.9244555234909058, 1.2350355386734009], "std": [0.016281191259622574, 0.018778715282678604, 0.017064815387129784, 0.0676528587937355, 0.07455291599035263, 0.017913322895765305, 0.028373958542943, 0.049538858234882355, 0.03678004443645477, 0.32821789383888245, 0.2017725259065628, 0.1468198299407959], "count": [1032]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.18671151995658875, 0.9614452123641968, -1.208855390548706, 1.1545262336730957, -1.3281147480010986, 0.35622525215148926, -0.2309127151966095, 0.8808954358100891, -0.26144930720329285, 1.2210906744003296, 0.813482403755188], "max": [0.4736444652080536, 0.28654977679252625, 1.0518032312393188, -0.8031640648841858, 1.5002158880233765, -1.2122771739959717, 0.4950282871723175, -0.00952751561999321, 1.0513677597045898, 1.2739830017089844, 2.1725525856018066, 1.534306287765503], "mean": [0.46559932827949524, 0.2714828550815582, 0.9836856126785278, -1.034535527229309, 1.3884953260421753, -1.232560157775879, 0.3915526568889618, -0.11367906630039215, 0.9139175415039062, 0.06324580311775208, 1.9233670234680176, 1.2359768152236938], "std": [0.016332585364580154, 0.018816636875271797, 0.016993721947073936, 0.06960899382829666, 0.07667413353919983, 0.020080743357539177, 0.02836400642991066, 0.049555033445358276, 0.03690511733293533, 0.3268588185310364, 0.20282411575317383, 0.14788053929805756], "count": [1032]}, "subtask_index": {"min": [64], "max": [292], "mean": [278.08527131782944], "std": [24.111709017572608], "count": [1032]}, "observation.tactile": {"min": [-0.016010401770472527, -3.44253312505316e-05, -7.690797792747617e-05, -0.0010348387295380235, -0.00021145804203115404, -0.0002880062093026936, -0.009191414341330528, 0.0, 0.0, -0.0017871493473649025, -5.043243072577752e-05, -0.00019893112767022103, -0.017965110018849373, -3.2552474294789135e-05, -7.171433389885351e-05, -0.0017923287814483047, -4.6432069211732596e-05, -0.00040843072929419577, -0.007304205093532801, -3.3338852517772466e-05, -7.356291462201625e-05, -0.0013594471383839846, -6.405266321962699e-05, -0.00013876400771550834, -0.002153778914362192, -4.84662305098027e-05, -0.00011023860133718699, -0.0008044552523642778, -5.4275087677524425e-06, -4.838108361582272e-05, -0.7422366738319397, -4.045130845042877e-05, -9.024966129800305e-05, -0.17855244874954224, -0.0002636111748870462, -0.03948269784450531, -4.465892791748047, 0.0, 0.0, -0.3396449685096741, -0.022665968164801598, -0.07082374393939972, -0.009453498758375645, -4.9271216994384304e-05, -0.00010902195936068892, -0.001975730061531067, -4.926271867589094e-05, -0.00020354431762825698, -0.014918660745024681, -4.150716631556861e-05, -9.147958917310461e-05, -0.001481941668316722, -6.680403021164238e-05, -0.0003049525257665664, -0.012359208427369595, -3.629921411629766e-05, -7.981163071235642e-05, -0.001507056993432343, -9.635769674787298e-05, -0.0001939738867804408], "max": [0.0002750065177679062, 0.019359255209565163, 0.059380773454904556, 1.4912372989783762e-06, 0.00011895421630470082, 5.920534931647126e-06, 0.019876942038536072, 0.03188740834593773, 0.09480003267526627, 0.0, 0.00043662829557433724, 0.00025308699696324766, 0.000255555467447266, 0.027536971494555473, 0.08164701610803604, 1.3274950561026344e-06, 0.00011205895862076432, 5.327219241735293e-06, 0.0028148521669209003, 0.02413715235888958, 0.0686584860086441, 1.3518933883460704e-06, 0.00011240319872740656, 1.0172900147153996e-05, 0.001578194322064519, 0.012828529812395573, 0.036578480154275894, 2.104087116094888e-06, 3.2545871363254264e-05, 3.36957564286422e-05, 5.190711975097656, 9.761103630065918, 8.943546295166016, 1.6786043488536961e-06, 0.03439714387059212, 0.11182039976119995, 7.451000690460205, 15.75002670288086, 18.62098503112793, 0.0, 0.030648553743958473, 0.12279974669218063, 0.059323444962501526, 0.03558545187115669, 0.11009291559457779, 1.9716173937922576e-06, 0.0005340015050023794, 0.0008932878263294697, 0.011024455539882183, 0.02612217701971531, 0.07518035173416138, 1.6789031178632285e-06, 0.00030780673841945827, 0.00014200175064615905, 0.01028451882302761, 0.027306322008371353, 0.07924292981624603, 1.4671818462375086e-06, 0.00017843437672127038, 0.00012587927631102502], "mean": [-0.0011314104776829481, 0.0018533810507506132, 0.005568883381783962, -9.763507114257663e-05, -8.591145160607994e-06, -1.7562102584633976e-05, -0.0004840811889152974, 0.01210650335997343, 0.03679444268345833, -0.0007183901034295559, 5.641658208332956e-05, -3.0548544600605965e-05, -0.0019796111155301332, 0.0032843537628650665, 0.009628129191696644, -0.0002006991271628067, 1.060573777067475e-05, -4.441352211870253e-05, -0.0011928803287446499, 0.0033562593162059784, 0.009918139316141605, -0.00017684698104858398, -2.468676257194602e-06, -1.992926081584301e-05, -0.00015957991126924753, 0.0027710741851478815, 0.008005335927009583, -0.0001680286368355155, 3.38656082021771e-06, -4.6398427002714016e-06, 1.1189424991607666, 1.7377259731292725, 2.3841278553009033, -0.05466681718826294, 0.007128484081476927, 0.02160366252064705, 0.26496055722236633, 3.6393728256225586, 6.997071743011475, -0.12369848787784576, -0.0027348981238901615, 0.004619366955012083, 5.915539986744989e-06, 0.00686712097376585, 0.020060809329152107, -0.0004249954654369503, 3.79634257114958e-05, -1.5967983927112073e-05, -0.0010568936122581363, 0.003267938969656825, 0.009450283832848072, -0.00017550261691212654, 8.084710316325072e-06, -2.3317596060223877e-05, -0.001770432572811842, 0.0049993074499070644, 0.014420103281736374, -0.00030606103246100247, -3.639227543317247e-06, -3.506074062897824e-05], "std": [0.0023895730264484882, 0.0029847121331840754, 0.008943420834839344, 0.00016607176803518087, 2.373556708334945e-05, 4.1076513298321515e-05, 0.0031154612079262733, 0.004739460069686174, 0.014885187149047852, 0.0002748628903646022, 9.123440395342186e-05, 3.892334643751383e-05, 0.003064442193135619, 0.005213353782892227, 0.015245597809553146, 0.00032905078842304647, 2.3431131921825e-05, 6.886256596772e-05, 0.0012737378710880876, 0.003304615616798401, 0.009624894708395004, 0.00017812066653277725, 9.99460735329194e-06, 2.2765469111618586e-05, 0.00048659706953912973, 0.002975090639665723, 0.008521739393472672, 0.00018015583918895572, 5.33829870619229e-06, 1.1159250789205544e-05, 1.4798918962478638, 2.174029588699341, 2.859260082244873, 0.06308303773403168, 0.008205006830394268, 0.03261132538318634, 2.253923177719116, 3.997727394104004, 7.373879432678223, 0.1303580105304718, 0.007749070879071951, 0.038603682070970535, 0.003890871535986662, 0.0058242096565663815, 0.016993163153529167, 0.0003675381012726575, 5.28390628460329e-05, 6.045191184966825e-05, 0.002567453309893608, 0.0044855112209916115, 0.012911494821310043, 0.00024815447977744043, 3.6511512007564306e-05, 4.8837278882274404e-05, 0.0019243686692789197, 0.0048566111363470554, 0.013992260210216045, 0.00030874359072186053, 3.1098563340492547e-05, 3.638822818174958e-05], "count": [1032]}, "timestamp": {"min": [0.0], "max": [34.36666666666667], "mean": [17.183333333333334], "std": [9.930419967994341], "count": [1032]}, "frame_index": {"min": [0], "max": [1031], "mean": [515.5], "std": [297.91259903983024], "count": [1032]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1032]}, "index": {"min": [15537], "max": [16568], "mean": [16052.5], "std": [297.91259903983024], "count": [1032]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1032]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5407947897911072]], [[0.5403651595115662]], [[0.5420814156532288]]], "std": [[[0.301228404045105]], [[0.3012247681617737]], [[0.30218765139579773]]], "count": [1032]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.254621684551239]], [[0.2558597922325134]], [[0.2550455331802368]]], "std": [[[0.15634514391422272]], [[0.1586124151945114]], [[0.15749332308769226]]], "count": [1032]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.1977195143699646]], [[0.19905631244182587]], [[0.19849132001399994]]], "std": [[[0.13713227212429047]], [[0.1383465677499771]], [[0.14179517328739166]]], "count": [1032]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.542718231678009]], [[0.5424964427947998]], [[0.5440084338188171]]], "std": [[[0.3008219003677368]], [[0.3008599877357483]], [[0.30236467719078064]]], "count": [1032]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6352941393852234]], [[0.6352941393852234]], [[0.6352941393852234]]], "mean": [[[0.002622999018058181]], [[0.002622999018058181]], [[0.002622999018058181]]], "std": [[[0.031269222497940063]], [[0.031269222497940063]], [[0.031269222497940063]]], "count": [1032]}, "observation.images.tactile_raw": {"min": [[[0.0313725508749485]], [[0.0313725508749485]], [[0.0313725508749485]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.468509703874588]], [[0.468509703874588]], [[0.468509703874588]]], "std": [[[0.23553462326526642]], [[0.23553462326526642]], [[0.23553462326526642]]], "count": [1032]}}}
+{"episode_index": 10, "stats": {"observation.state": {"min": [1.0500081777572632, -0.7799625396728516, -0.15921641886234283, 0.9846976399421692, -0.09388801455497742, -0.7697474956512451, 0.3061971664428711, 0.006184032186865807, -0.04369386285543442, -0.2770271599292755, -0.3144863247871399, 0.0030655506998300552, 0.003576926188543439, 1.5454235835932195e-05, 0.0034378415439277887, 0.0008478245581500232, -0.17430530488491058, -0.0005006895516999066, 0.0034491876140236855, 0.0008252100087702274, -0.1321340799331665, -0.03764836862683296, 0.006850154604762793, 0.000832748191896826, 0.00551443500444293, -0.13980530202388763, -0.038224123418331146, 0.003518327372148633, 0.0008580232970416546, 1.0111855268478394, -0.8445150256156921, -0.23096849024295807, 0.9171596765518188, -1.5224123001098633, -0.7691608667373657, -0.6981406807899475, 0.007174322847276926, -0.2840578854084015, 0.0032986574806272984, -0.2080930769443512, 0.003478970844298601, 0.005125594791024923, -0.19489820301532745, 0.0030999432783573866, -0.0004868783289566636, -0.00012118485028622672, -0.08070322126150131, 0.0026592216454446316, 0.0008566930191591382, -0.00011063687998102978, -0.03215308487415314, 0.003486416768282652, 0.0008633443503640592, 0.0057317158207297325, -0.06399143487215042, -0.03752791881561279, 0.0034718795213848352, 0.0008730996632948518, 0.5623956918716431, -1.1070547103881836, 0.5446590781211853, -0.035473305732011795, 0.0003834952076431364, 9.58738019107841e-05, -0.8728350400924683], "max": [1.2352535724639893, -0.5128703713417053, -5.8123488997807726e-05, 1.5697914361953735, -2.0013656467199326e-05, 0.14931397140026093, 0.6621296405792236, 1.0594502687454224, 0.041730090975761414, 0.0003127057570964098, -0.003844519378617406, 0.4796200394630432, 0.8077720403671265, 0.04703408479690552, 0.2308250367641449, 0.29111865162849426, 0.4125443696975708, 0.08650244772434235, 0.07792405039072037, 0.04544242098927498, 0.06858911365270615, 0.08590412139892578, 0.1394343227148056, 0.3321569859981537, 0.006012147292494774, 0.05017435550689697, 0.0007236769888550043, 0.12976576387882233, 0.11030099540948868, 1.378283143043518, -0.30861496925354004, -0.0008372179581783712, 1.6033909320831299, 0.30385535955429077, 0.08616166561841965, 0.529158890247345, 1.5595474243164062, 0.0004041746724396944, 0.8338019847869873, 0.3163275122642517, 0.31741851568222046, 1.1934186220169067, 0.25709980726242065, 0.5326246619224548, 0.857224702835083, 1.4689104557037354, 0.2695612907409668, 1.6556788682937622, 1.3082637786865234, 1.4684951305389404, 0.21718499064445496, 1.6548008918762207, 1.3082464933395386, 0.061494726687669754, 1.4687652587890625, 0.3127795159816742, 1.6546541452407837, 1.3081773519515991, 0.5638338327407837, -1.1058083772659302, 0.7126299738883972, 0.0013422331539914012, 0.11418569833040237, 0.09913350641727448, -0.5025704503059387], "mean": [1.1846694946289062, -0.6339039206504822, -0.1483926773071289, 1.0373561382293701, -0.09122160077095032, -0.05775578320026398, 0.42422550916671753, 1.0137674808502197, 0.02823878452181816, -0.23230837285518646, -0.2987262010574341, 0.46703416109085083, 0.6488812565803528, 0.029323004186153412, 0.20364689826965332, 0.2824845314025879, 0.27014032006263733, 0.06631410121917725, 0.052106522023677826, 0.04120615869760513, 0.043020203709602356, 0.04644555225968361, 0.08669868856668472, 0.3224673867225647, 0.005772882141172886, -0.0025420940946787596, -0.02285768836736679, 0.06298511475324631, 0.052458446472883224, 1.1073116064071655, -0.6762259602546692, -0.21780629456043243, 1.386159062385559, -1.003240942955017, -0.3613692820072174, 0.18435055017471313, 1.3557378053665161, -0.18306125700473785, 0.5344278216362, 0.028385238721966743, 0.06473533064126968, 0.8341442346572876, 0.1767662912607193, 0.0881546139717102, 0.37355557084083557, 1.3807878494262695, 0.19252069294452667, 1.5449801683425903, 1.1679506301879883, 1.3778246641159058, 0.15429632365703583, 1.5441784858703613, 1.1891287565231323, 0.057055938988924026, 1.3684345483779907, 0.2714335322380066, 1.563724398612976, 1.2363258600234985, 0.5626826882362366, -1.1067813634872437, 0.6875125169754028, -0.028979245573282242, 0.09900438785552979, 0.07891201972961426, -0.8435491919517517], "std": [0.02952420338988304, 0.027949834242463112, 0.020753497257828712, 0.07502475380897522, 0.012169167399406433, 0.1762744039297104, 0.11554915457963943, 0.1545964479446411, 0.013610058464109898, 0.04102252051234245, 0.046126335859298706, 0.0709255263209343, 0.24415872991085052, 0.007833708077669144, 0.051834702491760254, 0.0432865209877491, 0.15615925192832947, 0.016065170988440514, 0.020019887015223503, 0.008686474524438381, 0.03827281668782234, 0.030119404196739197, 0.048918917775154114, 0.04948696866631508, 8.758992044022307e-05, 0.05555340647697449, 0.011137445457279682, 0.05853559821844101, 0.0511246882379055, 0.06194566190242767, 0.1244501918554306, 0.03421773016452789, 0.16240456700325012, 0.34261730313301086, 0.17358112335205078, 0.1784859001636505, 0.2092922180891037, 0.04385170713067055, 0.182588592171669, 0.11650579422712326, 0.08546674996614456, 0.1975407898426056, 0.07760301232337952, 0.10213685780763626, 0.2543559968471527, 0.32981055974960327, 0.059840843081474304, 0.40561944246292114, 0.31240206956863403, 0.33584079146385193, 0.045866500586271286, 0.4044576585292816, 0.31836530566215515, 0.013376543298363686, 0.36203885078430176, 0.07187249511480331, 0.3501337170600891, 0.2760089039802551, 9.4207665824797e-05, 8.248678204836324e-05, 0.02293284796178341, 0.006980367936193943, 0.01734106056392193, 0.02060471847653389, 0.07091383635997772], "count": [1656]}, "observation.state.joint_torque": {"min": [-48.217498779296875, -6.142499923706055, -19.613000869750977, -6.065999984741211, -0.6840000152587891, -0.656000018119812, 0.47200000286102295, -0.7131754159927368, -0.4482816755771637, -0.25847944617271423, -0.28209051489830017, -0.13116022944450378, -0.364596426486969, -0.22547408938407898, -0.10957689583301544, -0.032821137458086014, -0.35883963108062744, -0.22451463341712952, -0.06807050108909607, -0.0321076326072216, -0.41352909803390503, -0.5545703768730164, -0.0979551151394844, -0.04209667816758156, -0.002638806588947773, -0.39433982968330383, -0.44615086913108826, -0.07803203910589218, -0.03710215538740158, 3.1695001125335693, -7.870500087738037, -7.794000148773193, -12.928999900817871, -3.2119998931884766, -5.816800117492676, -3.3775999546051025, -2.2019290924072266, -0.7246371507644653, -0.7779236435890198, -1.2252919673919678, -0.1411217600107193, -0.45094817876815796, -0.9335586428642273, -0.10791664570569992, -0.09632289409637451, -0.4662996232509613, -0.3127853572368622, -0.4333268404006958, -0.07777182012796402, -0.6303680539131165, -0.29263660311698914, -0.2307755947113037, -0.07919883728027344, -0.1539303958415985, -0.38954249024391174, -0.45574548840522766, -0.10293588042259216, -0.08205283433198929, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-16.13249969482422, 12.534000396728516, -5.000999927520752, 1.8009999990463257, 1.8736000061035156, 1.2519999742507935, 3.9495999813079834, 0.6316697001457214, 0.3680494427680969, 0.34173962473869324, 0.41381561756134033, 0.10127562284469604, 0.4260021150112152, 0.1966901570558548, 0.12119869887828827, 0.014270060695707798, 0.31182587146759033, 0.21012267470359802, 0.12949997186660767, 0.01855107769370079, 0.38762354850769043, 0.5008403658866882, 0.12949997186660767, 0.021405089646577835, 0.001759204315021634, 0.435596764087677, 0.2321903556585312, 0.10293588042259216, 0.021405089646577835, 44.27399826049805, 11.361000061035156, 17.649999618530273, 4.7220001220703125, 0.7824000120162964, 2.759999990463257, 4.954400062561035, 1.93576180934906, 3.582432746887207, 1.676388144493103, 1.5968561172485352, 0.39514094591140747, 2.1472809314727783, 1.3470877408981323, 1.0625640153884888, 0.21405088901519775, 0.6975305080413818, 0.4029749929904938, 0.1859486699104309, 0.04923170804977417, 0.6716249585151672, 0.3511638939380646, 0.07803203910589218, 0.04994520545005798, 0.12842193245887756, 0.3012717664241791, 0.43175891041755676, 0.17100638151168823, 0.033534638583660126, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.884727478027344, 3.586134195327759, -11.594305038452148, -2.0941245555877686, 0.08018232136964798, 0.005541600286960602, 2.077138662338257, 0.03805824741721153, 0.0024886007886379957, 0.02688749134540558, -0.005053264554589987, -0.0001293323002755642, 0.04674273729324341, -0.004763715900480747, -0.00021956011187285185, 0.0003981133922934532, 0.04644884541630745, -0.03391563519835472, 0.002418198622763157, 4.696348332799971e-05, 0.011196678504347801, 0.045517273247241974, 0.0026708515360951424, 6.89387934471597e-06, -5.2850431529805064e-05, 0.03695501387119293, -6.199754716362804e-05, 0.0011248817900195718, -0.003606286598369479, 21.790664672851562, 2.8976314067840576, 10.299745559692383, -4.95965051651001, -0.41143521666526794, 0.860048234462738, -1.1100579500198364, -0.022548191249370575, 0.4561659097671509, 0.2504342794418335, 0.17990697920322418, 0.01591581478714943, 0.5107787847518921, 0.004216201137751341, 0.27155810594558716, 0.053535960614681244, 0.007655971217900515, -0.015006093308329582, 0.00021755708439741284, 0.0008039850508794188, 0.009613754227757454, -0.0045128390192985535, -0.00018046390323434025, 0.0018065919866785407, 0.0002552280784584582, 0.012479417957365513, -0.005027357954531908, 0.0010035743471235037, 0.0020500340033322573, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.2285189628601074, 1.1408908367156982, 0.6865302324295044, 0.7346737384796143, 0.2977178692817688, 0.3482426106929779, 0.24421216547489166, 0.10058998316526413, 0.06869646906852722, 0.06131315231323242, 0.06196972727775574, 0.010981407947838306, 0.06542421132326126, 0.04027845337986946, 0.014020503498613834, 0.0040006875060498714, 0.06186017766594887, 0.04431546851992607, 0.0111937765032053, 0.005214605946093798, 0.08019348978996277, 0.10769917815923691, 0.018111521378159523, 0.004922906868159771, 0.0003433134115766734, 0.07778940349817276, 0.043980468064546585, 0.009448197670280933, 0.01091756485402584, 4.17438268661499, 2.137758731842041, 2.736680030822754, 1.680004596710205, 0.4437398314476013, 1.0195839405059814, 0.9962455034255981, 0.5801305770874023, 0.8165773153305054, 0.4495221972465515, 0.44417816400527954, 0.06501661986112595, 0.7993274331092834, 0.24966029822826385, 0.4059232771396637, 0.0864625796675682, 0.05681389570236206, 0.07729411870241165, 0.014193514361977577, 0.009568014182150364, 0.05483034625649452, 0.07524260133504868, 0.010633413679897785, 0.010688317939639091, 0.013463576324284077, 0.060169968754053116, 0.11075805872678757, 0.015462120994925499, 0.005310694687068462, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1656]}, "observation.state.tcp": {"min": [0.3616296947002411, 0.1926392763853073, 0.9194869995117188, -1.280335783958435, 1.2171945571899414, -1.4561634063720703, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3232782781124115, -0.21770964562892914, 0.8934812545776367, -1.3427340984344482, -2.79691219329834, -1.1417301893234253, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.47652751207351685, 0.3142828345298767, 1.051650881767273, -0.9283757209777832, 1.7663235664367676, -1.2123993635177612, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5234955549240112, -0.014853782020509243, 1.0513941049575806, 1.4921461343765259, 2.7856130599975586, 1.480820655822754, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.44232383370399475, 0.2938116192817688, 0.9479696154594421, -1.1949288845062256, 1.5737125873565674, -1.3401618003845215, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3791762888431549, -0.10534365475177765, 0.925923228263855, -0.012208959087729454, 1.848190426826477, 1.0818333625793457, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.012959379702806473, 0.020747777074575424, 0.024205157533288002, 0.08567849546670914, 0.1728462129831314, 0.06478188931941986, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03991358354687691, 0.043661363422870636, 0.027776790782809258, 0.4110303521156311, 0.7879254221916199, 0.323784202337265, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1656]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.1593063324689865, 0.983843207359314, -0.09376601129770279, -0.7699999809265137, 0.306194931268692, 0.0, -0.05377442389726639, -0.2743673622608185, -0.32317978143692017, 0.0, 0.0, 0.0, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.14880132675170898, -0.04524189978837967, 0.0, 0.0, 0.0, -0.15141911804676056, -0.16259139776229858, 0.0, 0.0, 1.0111963748931885, -0.8445460200309753, -0.23096351325511932, 0.9171619415283203, -1.522403359413147, -0.768225908279419, -0.7579284906387329, 0.0, -0.2870267331600189, 0.0, -0.20966488122940063, -0.1745329201221466, 0.0, -0.19672232866287231, 0.0, 0.0, 0.0, -0.1046835258603096, 0.0, 0.0, 0.0, -0.11216170340776443, 0.0, 0.0, 0.0, -0.06747600436210632, -0.14264971017837524, 0.0, 0.0, 0.5626833438873291, -1.1069231033325195, 0.5442397594451904, -0.036144744604825974, 0.0, 0.0, -0.8727059364318848], "max": [1.2355061769485474, -0.5128032565116882, 0.0, 1.5700000524520874, -3.469446951953614e-18, 0.1496114283800125, 0.6621318459510803, 1.0726360082626343, 0.04727642983198166, 0.0, 0.0, 0.4822549521923065, 0.8156859874725342, 0.045742444694042206, 0.23859214782714844, 0.296010285615921, 0.41943034529685974, 0.08629696816205978, 0.08291969448328018, 0.049480412155389786, 0.0711672231554985, 0.09281652420759201, 0.14703623950481415, 0.33663225173950195, 0.01328809279948473, 0.059695053845644, 0.0, 0.13489435613155365, 0.11573881655931473, 1.3790698051452637, -0.30862247943878174, -0.0009524048073217273, 1.6034610271453857, 0.30382871627807617, 0.08707007765769958, 0.5312505960464478, 1.5676270723342896, 0.0, 0.8373103141784668, 0.3490658402442932, 0.3221893012523651, 1.1887391805648804, 0.24765270948410034, 0.5360883474349976, 0.8641583919525146, 1.5707963705062866, 0.27468907833099365, 1.7453292608261108, 1.3962633609771729, 1.5707963705062866, 0.22167080640792847, 1.7453292608261108, 1.3962633609771729, 0.08040168881416321, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5627791881561279, -1.106767177581787, 0.7130782008171082, 0.0013360294979065657, 0.11544002592563629, 0.09962142258882523, -0.5024750232696533], "mean": [1.1846894025802612, -0.6338152885437012, -0.14840519428253174, 1.0372365713119507, -0.09122560173273087, -0.058102790266275406, 0.42423346638679504, 1.0203685760498047, 0.02875722572207451, -0.22854536771774292, -0.3065046966075897, 0.46944037079811096, 0.6546937227249146, 0.029232695698738098, 0.20618988573551178, 0.2861233353614807, 0.2755845785140991, 0.06667215377092361, 0.0542641282081604, 0.04271981492638588, 0.04452499747276306, 0.05112385377287865, 0.08797319233417511, 0.32513564825057983, 0.005777427460998297, 0.0014946485171094537, -0.056705255061388016, 0.06389499455690384, 0.053256209939718246, 1.1074674129486084, -0.6764155626296997, -0.2178286910057068, 1.3860753774642944, -1.0040408372879028, -0.36151123046875, 0.18440301716327667, 1.35593843460083, -0.18169623613357544, 0.5333184003829956, 0.03042319230735302, 0.0375630259513855, 0.8418115377426147, 0.1786952018737793, 0.09066391736268997, 0.3960709571838379, 1.4760127067565918, 0.19212330877780914, 1.6287224292755127, 1.1787985563278198, 1.472942590713501, 0.1523543745279312, 1.6310940980911255, 1.2002344131469727, 0.0721224993467331, 1.4672638177871704, 0.2723791003227234, 1.6467610597610474, 1.3173823356628418, 0.5627856254577637, -1.1067860126495361, 0.6875450611114502, -0.02902047708630562, 0.09904000163078308, 0.07895482331514359, -0.8435201048851013], "std": [0.02942965179681778, 0.0279813501983881, 0.020727423951029778, 0.07493618130683899, 0.012165192514657974, 0.17673809826374054, 0.11553693562746048, 0.16827957332134247, 0.01522061973810196, 0.043551452457904816, 0.05159260705113411, 0.07755772769451141, 0.2500133216381073, 0.008056032471358776, 0.05506967380642891, 0.04731908068060875, 0.16070400178432465, 0.016734445467591286, 0.021830806508660316, 0.009764478541910648, 0.040073513984680176, 0.03318285569548607, 0.05105314031243324, 0.0537836067378521, 0.006461572367697954, 0.05887182429432869, 0.04842248931527138, 0.05996638908982277, 0.0528276301920414, 0.062167853116989136, 0.1243005022406578, 0.03413534164428711, 0.16246815025806427, 0.3407394289970398, 0.17420019209384918, 0.17987319827079773, 0.22222474217414856, 0.04751959443092346, 0.1871669888496399, 0.1235186904668808, 0.1148521676659584, 0.20816387236118317, 0.08077152818441391, 0.10241420567035675, 0.27806738018989563, 0.3624417185783386, 0.06236808001995087, 0.43011486530303955, 0.317065954208374, 0.36827999353408813, 0.05438964068889618, 0.42788052558898926, 0.3236171305179596, 0.019106199964880943, 0.38854193687438965, 0.08623781055212021, 0.38006913661956787, 0.30406448245048523, 1.866587444965262e-05, 2.5150115106953308e-05, 0.02329222299158573, 0.00703157065436244, 0.017550768330693245, 0.020700465887784958, 0.07109424471855164], "count": [1656]}, "observation.state.tcp_pose": {"min": [0.3616296947002411, 0.1926392763853073, 0.9194869995117188, -1.280335783958435, 1.2171945571899414, -1.4561634063720703, 0.3232782781124115, -0.21770964562892914, 0.8934812545776367, -1.3427340984344482, -2.79691219329834, -1.1417301893234253], "max": [0.47652751207351685, 0.3142828345298767, 1.051650881767273, -0.9283757209777832, 1.7663235664367676, -1.2123993635177612, 0.5234955549240112, -0.014853782020509243, 1.0513941049575806, 1.4921461343765259, 2.7856130599975586, 1.480820655822754], "mean": [0.44232383370399475, 0.2938116192817688, 0.9479696154594421, -1.1949288845062256, 1.5737125873565674, -1.3401618003845215, 0.3791762888431549, -0.10534365475177765, 0.925923228263855, -0.012208959087729454, 1.848190426826477, 1.0818333625793457], "std": [0.012959379702806473, 0.020747777074575424, 0.024205157533288002, 0.08567849546670914, 0.1728462129831314, 0.06478188931941986, 0.03991358354687691, 0.043661363422870636, 0.027776790782809258, 0.4110303521156311, 0.7879254221916199, 0.323784202337265], "count": [1656]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.1924280971288681, 0.9186210632324219, -1.2805826663970947, 1.2178406715393066, -1.4575053453445435, 0.32327836751937866, -0.21766850352287292, 0.8933718204498291, -1.3606574535369873, -2.7903032302856445, -1.1707072257995605], "max": [0.47564512491226196, 0.3144891858100891, 1.0518032312393188, -0.9285637140274048, 1.7661100625991821, -1.1852306127548218, 0.5241154432296753, -0.014893367886543274, 1.0515093803405762, 1.4892035722732544, 2.786059617996216, 1.48281729221344], "mean": [0.4424147307872772, 0.2938498854637146, 0.9478864669799805, -1.1950199604034424, 1.573635220527649, -1.33970308303833, 0.37930023670196533, -0.1054113581776619, 0.9259387850761414, -0.012810424901545048, 1.8481056690216064, 1.0819168090820312], "std": [0.012876767665147781, 0.020749162882566452, 0.023965047672390938, 0.08508859574794769, 0.17284604907035828, 0.06528271734714508, 0.04010448977351189, 0.04362734779715538, 0.027835862711071968, 0.4090690612792969, 0.787726104259491, 0.3227930963039398], "count": [1656]}, "subtask_index": {"min": [293], "max": [316], "mean": [302.81702898550725], "std": [6.245266796274421], "count": [1656]}, "observation.tactile": {"min": [-0.020661471411585808, -3.411420766497031e-05, -7.671929051866755e-05, -0.0011674081906676292, -0.00026640796568244696, -0.00029594291117973626, -0.01531166024506092, -2.5273559003835544e-05, -5.349782804842107e-05, -0.001743823173455894, -4.6591296268161386e-05, -0.0003295976493973285, -0.01194799318909645, -3.579069743864238e-05, -8.112005889415741e-05, -0.0011321193305775523, -5.071457781014033e-05, -0.0002350062131881714, -0.019260233268141747, -3.16280493279919e-05, -6.899489380884916e-05, -0.0008365032845176756, -0.00015884617459960282, -0.0002316756290383637, -0.0019072778522968292, -5.885483551537618e-05, -0.00013374748232308775, -0.0006473080138675869, -2.1367040972108953e-06, -4.703507147496566e-05, -2.4112634658813477, -4.002761852461845e-05, -8.744057413423434e-05, -0.18643221259117126, -0.03046608343720436, -0.05829806253314018, -5.592380523681641, 0.0, 0.0, -0.36504748463630676, -0.04883969947695732, -0.10184848308563232, -0.004409225191920996, -4.9643156671663746e-05, -0.00011006657587131485, -0.001714973128400743, -7.194017962319776e-05, -0.00011341214849380776, -0.01339455135166645, -4.400448233354837e-05, -9.637563198339194e-05, -0.0016747898189350963, -0.000151849293615669, -0.0003127428935840726, -0.0063263592310249805, -3.847690823022276e-05, -8.576593245379627e-05, -0.0011486175935715437, -4.939732389175333e-05, -0.00012753794726449996], "max": [0.00027232832508161664, 0.023121798411011696, 0.06747245043516159, 1.4724774928254192e-06, 9.991737169912085e-05, 5.813038569613127e-06, 0.017130542546510696, 0.027233773842453957, 0.0813857764005661, 9.829586815612856e-07, 0.0003742504632100463, 0.0002299277693964541, 0.00028394549735821784, 0.016995703801512718, 0.050357572734355927, 1.555127823849034e-06, 8.210577652789652e-05, 6.028150892234407e-06, 0.003774650627747178, 0.017648445442318916, 0.05289618298411369, 1.2535423365989118e-06, 0.00023497124493587762, 2.9258595532155596e-05, 0.008897705934941769, 0.010119247250258923, 0.02921578288078308, 2.554357024564524e-06, 6.034016405465081e-05, 0.000129613938042894, 6.569796562194824, 9.675999641418457, 7.666142463684082, 1.6007495560188545e-06, 0.01967914029955864, 0.14213159680366516, 7.903178691864014, 16.14420509338379, 20.33672523498535, 0.0, 0.012918473221361637, 0.13422583043575287, 0.008850378915667534, 0.02628980576992035, 0.07461852580308914, 1.991410272239591e-06, 0.00023537724337074906, 0.0001093546743504703, 0.020195472985506058, 0.03715730831027031, 0.10703174769878387, 1.7615741398913087e-06, 0.00038908887654542923, 0.00028367494815029204, 0.0008822110248729587, 0.01812370866537094, 0.0499764047563076, 1.6131525626406074e-06, 7.491045107599348e-05, 6.564388058905024e-06], "mean": [-0.001144535606727004, 0.0017354608280584216, 0.00509775010868907, -9.13180920179002e-05, -1.6123543900903314e-05, -1.4563799595634919e-05, -0.00026466426788829267, 0.001735085272230208, 0.005122412461787462, -0.0001005139056360349, 1.0332454621675424e-05, -8.861606147547718e-06, -0.0002670710382517427, 0.0010647097369655967, 0.003156883642077446, -6.0444723203545436e-05, 2.4650501018186333e-06, -5.6766716625133995e-06, -4.014195656054653e-05, 0.0007700511487200856, 0.0022695278748869896, -3.866050610668026e-05, 1.9134211015625624e-06, -6.479913849943841e-07, 0.00028555578319355845, 0.0005669120000675321, 0.0016636556247249246, -3.508654481265694e-05, 2.2288725176622393e-06, 4.478192749957088e-06, 0.7969610691070557, 1.2464569807052612, 1.5145076513290405, -0.032029543071985245, 0.002169507322832942, 0.016135338693857193, 0.25005343556404114, 2.112637519836426, 4.25133752822876, -0.08346076309680939, -0.004781362600624561, 0.0064408243633806705, -0.00012077845894964412, 0.005273923277854919, 0.015324583277106285, -0.0003378592955414206, 3.7307250750018284e-05, -1.608938691788353e-05, -0.000367332628229633, 0.004300727974623442, 0.012694988399744034, -0.00019408388470765203, 3.7191875890130177e-06, -6.6830239120463375e-06, -0.0005882052937522531, 0.0020959582179784775, 0.005990406032651663, -0.00013250783376861364, 7.822492165132644e-08, -1.2835917004849762e-05], "std": [0.0032709487713873386, 0.003955263178795576, 0.011547033675014973, 0.00020463610417209566, 3.9333332097157836e-05, 4.6082706830929965e-05, 0.0019483495270833373, 0.003214136464521289, 0.009534125216305256, 0.00019217342196498066, 3.596018723328598e-05, 3.470668525551446e-05, 0.0011882041580975056, 0.0022309471387416124, 0.0065430086106061935, 0.00012532726395875216, 1.3912459507992025e-05, 2.289376971020829e-05, 0.0009046972845681012, 0.001741438522003591, 0.00511840358376503, 8.751974382903427e-05, 2.5805888071772642e-05, 1.1942216588067822e-05, 0.0005101668066345155, 0.0013422121992334723, 0.0038800782058387995, 8.355858153663576e-05, 8.166502084350213e-06, 1.0237407877866644e-05, 1.5113221406936646, 1.955281376838684, 2.2701404094696045, 0.049553561955690384, 0.0069913011975586414, 0.03142011910676956, 1.7123937606811523, 3.069031000137329, 5.915842533111572, 0.1137886494398117, 0.009498578496277332, 0.032471511512994766, 0.000753494561649859, 0.004106459673494101, 0.011773609556257725, 0.0002657091827131808, 3.0405240977415815e-05, 1.7303416825598106e-05, 0.002068582223728299, 0.005513801705092192, 0.01616171933710575, 0.00025872435071505606, 4.6164113882696256e-05, 3.784741056733765e-05, 0.0010589307639747858, 0.002855718368664384, 0.00815696269273758, 0.00018806419393513352, 1.2539990166260395e-05, 2.3053211407386698e-05], "count": [1656]}, "timestamp": {"min": [0.0], "max": [55.166666666666664], "mean": [27.583333333333332], "std": [15.93486452428785], "count": [1656]}, "frame_index": {"min": [0], "max": [1655], "mean": [827.5], "std": [478.04593572863547], "count": [1656]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1656]}, "index": {"min": [16569], "max": [18224], "mean": [17396.5], "std": [478.04593572863547], "count": [1656]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1656]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5392794609069824]], [[0.5387845635414124]], [[0.5404319763183594]]], "std": [[[0.2998425364494324]], [[0.299852192401886]], [[0.30061283707618713]]], "count": [1656]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2518138587474823]], [[0.2523480951786041]], [[0.25146985054016113]]], "std": [[[0.15864208340644836]], [[0.16014231741428375]], [[0.15952041745185852]]], "count": [1656]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.19659215211868286]], [[0.19713270664215088]], [[0.1979190707206726]]], "std": [[[0.1329439878463745]], [[0.13367719948291779]], [[0.13729485869407654]]], "count": [1656]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5424423813819885]], [[0.5419586300849915]], [[0.5432841777801514]]], "std": [[[0.2999575436115265]], [[0.30008208751678467]], [[0.3011227250099182]]], "count": [1656]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6980392336845398]], [[0.6980392336845398]], [[0.6980392336845398]]], "mean": [[[0.0015034108655527234]], [[0.0015034108655527234]], [[0.0015034108655527234]]], "std": [[[0.02329877018928528]], [[0.02329877018928528]], [[0.02329877018928528]]], "count": [1656]}, "observation.images.tactile_raw": {"min": [[[0.0235294122248888]], [[0.0235294122248888]], [[0.0235294122248888]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46847373247146606]], [[0.46847373247146606]], [[0.46847373247146606]]], "std": [[[0.2354751080274582]], [[0.2354751080274582]], [[0.2354751080274582]]], "count": [1656]}}}
+{"episode_index": 11, "stats": {"observation.state": {"min": [1.0499813556671143, -0.7800168395042419, -0.15922720730304718, 0.9979010820388794, -0.1058707982301712, -0.7700477242469788, 0.37396031618118286, 0.006213843822479248, -0.006307058501988649, -0.2770298421382904, -0.3007715940475464, 0.003101716050878167, 0.003603174816817045, 0.000106221174064558, 0.0034307504538446665, 0.000881524698343128, -0.11069582402706146, 0.00032773977727629244, 0.0034396143164485693, 0.0008123507723212242, -0.08749449998140335, -0.030384860932826996, 0.00683987233787775, 0.0008039256790652871, 0.005586148705333471, -0.1434764266014099, -0.03812403604388237, 0.0034839347936213017, 0.000866004906129092, 1.000724196434021, -0.9017872214317322, -0.23059135675430298, 1.1066375970840454, -1.3937534093856812, -0.8721073865890503, -0.16811542212963104, 0.007547781802713871, -0.3164396584033966, 0.003264375263825059, -0.2291904091835022, 0.00347861647605896, 0.004919040482491255, -0.13813936710357666, 0.0031375268008559942, 0.0008003783295862377, 0.003679467597976327, -0.04301118478178978, 0.002608164446428418, 0.0008615707047283649, -0.0006608753465116024, -0.031433336436748505, 0.003553074551746249, 0.0008735430892556906, 0.005779881030321121, -0.07168889790773392, -0.03757968172430992, 0.003461242653429508, 0.0008469377062283456, 0.5623956918716431, -1.1070547103881836, 0.5444673299789429, -0.021092236042022705, 0.0, -9.58738019107841e-05, -0.8724515438079834], "max": [1.2011767625808716, -0.5131453275680542, 7.310377441172022e-06, 1.5700093507766724, 3.6671728594228625e-05, 0.004263867158442736, 0.6981692910194397, 1.0371770858764648, 0.0454055592417717, 0.0003238805802538991, -0.003847928484901786, 0.47960835695266724, 0.4899061918258667, 0.04126110300421715, 0.09698464721441269, 0.29054751992225647, 0.23145394027233124, 0.05454659461975098, 0.030701246112585068, 0.04543976113200188, 0.0024151175748556852, 0.01793859899044037, 0.03801020234823227, 0.33679208159446716, 0.005887986626476049, -0.005155277904123068, -0.002672698115929961, 0.04533582553267479, 0.045142222195863724, 1.3395633697509766, -0.47879037261009216, -0.0017193767707794905, 1.6600278615951538, 0.08768030256032944, -0.07356061041355133, 0.5180926322937012, 1.518530249595642, 0.0004612681223079562, 0.8054516315460205, 0.3147401511669159, 0.2740022838115692, 1.0991319417953491, 0.23767414689064026, 0.2292536199092865, 0.6698359847068787, 1.4688724279403687, 0.269011527299881, 1.6556727886199951, 1.308236837387085, 1.468459129333496, 0.20162788033485413, 1.6548488140106201, 1.26040780544281, 0.09372184425592422, 1.468753457069397, 0.3152221143245697, 1.6553791761398315, 1.3082034587860107, 0.5638338327407837, -1.1058083772659302, 0.6609539985656738, 0.0, 0.07593204826116562, 0.046307045966386795, -0.5531918406486511], "mean": [1.1499192714691162, -0.5880835056304932, -0.1429637372493744, 1.0465223789215088, -0.10109994560480118, -0.12914098799228668, 0.47206494212150574, 0.9792793989181519, 0.03318561613559723, -0.25975745916366577, -0.27944040298461914, 0.45646482706069946, 0.36377987265586853, 0.024967556819319725, 0.07374951243400574, 0.2757647633552551, 0.12808194756507874, 0.04242023453116417, 0.01273147389292717, 0.04108211398124695, -0.011672296561300755, 0.0036570688243955374, 0.022674180567264557, 0.31914597749710083, 0.005726192146539688, -0.1176019087433815, -0.03304231911897659, 0.020238809287548065, 0.019149307161569595, 1.0922881364822388, -0.7159193754196167, -0.2176220417022705, 1.4275150299072266, -1.1272774934768677, -0.3984297811985016, 0.0795065313577652, 1.321614146232605, -0.20918434858322144, 0.5702309608459473, -0.009662430733442307, 0.02891167625784874, 0.8572126626968384, 0.15281522274017334, 0.0425218902528286, 0.41961631178855896, 1.3035030364990234, 0.15450499951839447, 1.4477020502090454, 1.0980762243270874, 1.294582724571228, 0.12960804998874664, 1.454993486404419, 1.0176794528961182, 0.07196380198001862, 1.2822685241699219, 0.24561163783073425, 1.4891912937164307, 1.1771562099456787, 0.5626848340034485, -1.1067622900009155, 0.6467325091362, -0.009490495547652245, 0.06818270683288574, 0.014322205446660519, -0.8369588255882263], "std": [0.022242221981287003, 0.040955156087875366, 0.02773757092654705, 0.10247544944286346, 0.019448067992925644, 0.1549677699804306, 0.08283113688230515, 0.20386648178100586, 0.012416164390742779, 0.054865527898073196, 0.058307044208049774, 0.09558278322219849, 0.1485954225063324, 0.00888789352029562, 0.026888655498623848, 0.058053914457559586, 0.10996511578559875, 0.010631722398102283, 0.00921173207461834, 0.010107258334755898, 0.020233355462551117, 0.008500313386321068, 0.01002075057476759, 0.06725126504898071, 5.783893357147463e-05, 0.027664789929986, 0.006105590611696243, 0.011402505449950695, 0.01111841294914484, 0.05914559215307236, 0.1118355467915535, 0.038896672427654266, 0.1438647359609604, 0.36936667561531067, 0.1663179248571396, 0.1875089854001999, 0.27846476435661316, 0.0532107912003994, 0.20457880198955536, 0.12320253252983093, 0.054465070366859436, 0.27251115441322327, 0.08352725207805634, 0.0273523461073637, 0.2389436960220337, 0.43576714396476746, 0.06416494399309158, 0.5359354615211487, 0.4179128408432007, 0.4551401436328888, 0.05650724470615387, 0.5291613340377808, 0.3847464621067047, 0.0259277131408453, 0.48465490341186523, 0.0962059423327446, 0.45674464106559753, 0.35999351739883423, 9.881278674583882e-05, 9.446204057894647e-05, 0.020945334807038307, 0.007904970087110996, 0.013246026821434498, 0.007811540272086859, 0.07685361802577972], "count": [958]}, "observation.state.joint_torque": {"min": [-49.7760009765625, -13.51200008392334, -20.6560001373291, -9.763999938964844, -0.3319999873638153, -1.0032000541687012, 0.4399999976158142, -0.711901843547821, -0.37696418166160583, -0.2274121791124344, -0.2547513544559479, -0.12119869887828827, -0.2753662168979645, -0.30415016412734985, -0.11787818372249603, -0.0321076326072216, -0.26864999532699585, -0.24082551896572113, -0.061429474502801895, -0.03139413148164749, -0.33293408155441284, -0.41065070033073425, -0.09297433495521545, -0.046377696096897125, -0.0013194032944738865, -0.35404232144355774, -0.3051096200942993, -0.07803203910589218, -0.03567514568567276, 6.593999862670898, -2.9130001068115234, -1.8049999475479126, -8.927000045776367, -2.3143999576568604, -3.660799980163574, -4.027200222015381, -1.5256860256195068, -0.7284577488899231, -0.5095027089118958, -1.3334059715270996, -0.15772433578968048, -0.5296242237091064, -0.7867607474327087, -0.1593845784664154, -0.09703640639781952, -1.2098844051361084, -0.34924498200416565, -0.13614100217819214, -0.046377696096897125, -0.7838823199272156, -0.31086641550064087, -0.1145576685667038, -0.14555460214614868, -0.11918610334396362, -1.5332238674163818, -0.35883960127830505, -0.38517940044403076, -0.09418238699436188, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-15.121500015258789, 14.581500053405762, -4.828000068664551, 5.52400016784668, 1.9032000303268433, 0.9440000057220459, 3.7383999824523926, 0.7360988855361938, 0.33621126413345337, 0.22492682933807373, 0.39890336990356445, 0.10293588042259216, 0.3338935673236847, 0.22355516254901886, 0.11787818372249603, 0.01783757284283638, 0.2715283930301666, 0.18325766921043396, 0.11953844130039215, 0.019264578819274902, 0.3367719352245331, 0.40105608105659485, 0.11289741843938828, 0.019264578819274902, 0.002638806588947773, 0.2868798077106476, 0.2580958604812622, 0.08633331209421158, 0.01783757284283638, 52.05149841308594, 14.477999687194824, 23.781999588012695, 4.701000213623047, 0.23520000278949738, 2.6631999015808105, 3.267199993133545, 2.441352128982544, 4.121135234832764, 1.5086250305175781, 1.8826746940612793, 0.5130191445350647, 2.1463215351104736, 0.8980585932731628, 1.0575830936431885, 0.21333740651607513, 0.9824913740158081, 0.2130010575056076, 0.1145576685667038, 0.11701448261737823, 1.2012492418289185, 0.3290962278842926, 0.07139100879430771, 0.03139413148164749, 0.12798210978507996, 0.4260021150112152, 0.19573070108890533, 0.09629485011100769, 0.14198710024356842, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.394357681274414, 3.1904478073120117, -11.706751823425293, -2.2867748737335205, 0.24502180516719818, 0.052425045520067215, 2.0463452339172363, 0.026661677286028862, -0.003807278349995613, 0.004403893835842609, -0.01604476198554039, -0.00037433882243931293, 0.032029908150434494, 0.0006199422059580684, 0.007441702764481306, 1.1917009032913484e-05, 0.03985981270670891, -0.025489892810583115, 0.0028213902842253447, 0.0007298871641978621, 0.016740502789616585, 0.023783260956406593, 0.004596037324517965, 0.0013852957636117935, -2.0199619029881433e-05, 0.02543480694293976, 0.00013020077312830836, 0.0033083835151046515, -0.0010829155799001455, 21.744796752929688, 2.9047651290893555, 10.59206485748291, -4.713200092315674, -0.5704620480537415, 1.011407494544983, -0.9177839756011963, 0.044479116797447205, 0.6690733432769775, 0.3251757323741913, 0.22881701588630676, 0.0006169649423100054, 0.6614046096801758, -0.004589008167386055, 0.3508325219154358, 0.07039999961853027, 0.0030516216065734625, -0.03432535007596016, 0.0006446908810175955, 0.0012571940897032619, -0.0007922134827822447, -0.036033932119607925, -0.0004453942528925836, -0.003325460013002157, -0.0012165639782324433, 0.021921426057815552, -0.04948749765753746, -0.00025475636357441545, 0.0024756640195846558, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.4948843717575073, 1.2688461542129517, 0.8416236042976379, 0.8564404249191284, 0.2834160327911377, 0.28285759687423706, 0.2599628269672394, 0.11992985010147095, 0.06298533827066422, 0.03770531713962555, 0.06129322946071625, 0.012902025133371353, 0.07539673894643784, 0.04941295087337494, 0.01829342171549797, 0.005008943844586611, 0.06694456934928894, 0.04301101714372635, 0.014573910273611546, 0.006166441366076469, 0.06541106104850769, 0.0668884888291359, 0.014714827761054039, 0.008414875715970993, 0.00032649823697283864, 0.06165887787938118, 0.047603264451026917, 0.011933627538383007, 0.008919737301766872, 4.1359686851501465, 2.232036590576172, 2.5984396934509277, 1.7957960367202759, 0.3023892343044281, 0.959000825881958, 0.8963302373886108, 0.645012378692627, 0.9757460355758667, 0.422228068113327, 0.49588584899902344, 0.050390955060720444, 0.8133219480514526, 0.2486550658941269, 0.4381962716579437, 0.10088460892438889, 0.07385622709989548, 0.0593092255294323, 0.010803984478116035, 0.009741799905896187, 0.06982684880495071, 0.05025938153266907, 0.012653547339141369, 0.010997958481311798, 0.021759333088994026, 0.09467700868844986, 0.06706928461790085, 0.022515764459967613, 0.008195718750357628, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [958]}, "observation.state.tcp": {"min": [0.36162662506103516, 0.1924312859773636, 0.9391261339187622, -1.2103897333145142, 1.2160674333572388, -1.4240248203277588, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.31726711988449097, -0.218828484416008, 0.9050229787826538, -0.32649168372154236, 1.2233902215957642, 0.6410690546035767, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.45508283376693726, 0.26462647318840027, 1.0517494678497314, -0.893599271774292, 1.692304015159607, -1.213270664215088, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4986669719219208, -0.01973533257842064, 1.0516332387924194, 1.2422126531600952, 2.20180344581604, 1.3913336992263794, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4399572014808655, 0.24903984367847443, 0.9622938632965088, -1.1160730123519897, 1.5456606149673462, -1.3725072145462036, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3645898699760437, -0.13525952398777008, 0.9397006630897522, 0.02323107421398163, 1.9349455833435059, 0.9722282886505127, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.015475122258067131, 0.01195460930466652, 0.022164126858115196, 0.07000892609357834, 0.12673114240169525, 0.037271469831466675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03842119872570038, 0.048955172300338745, 0.0345902219414711, 0.37871602177619934, 0.18740224838256836, 0.1827545464038849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [958]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.15923923254013062, 0.9976540207862854, -0.10584629327058792, -0.7699999809265137, 0.3738330006599426, 0.0, -0.011014528572559357, -0.2742379903793335, -0.307648241519928, 0.0, 0.0, 0.0, 0.0, 0.0, -0.13138408958911896, 0.0, 0.0, 0.0, -0.10057536512613297, -0.03392869979143143, 0.0, 0.0, 0.0, -0.1506999284029007, -0.16086560487747192, 0.0, 0.0, 1.0007460117340088, -0.9017883539199829, -0.23058001697063446, 1.105043888092041, -1.3937387466430664, -0.8748713731765747, -0.168192058801651, 0.0, -0.31425508856773376, 0.0, -0.23612648248672485, -0.1745329201221466, 0.0, -0.13986915349960327, 0.0, 0.0, 0.0, -0.04830969125032425, 0.0, 0.0, 0.0, -0.06240326911211014, 0.0, 0.0, 0.0, -0.07179029285907745, -0.08713871985673904, 0.0, 0.0, 0.5626833438873291, -1.1069231033325195, 0.5442397594451904, -0.02268742397427559, 0.0, 0.0, -0.8726646304130554], "max": [1.2011733055114746, -0.5131340026855469, 0.0, 1.5700000524520874, 0.0, 0.004256861750036478, 0.7164183259010315, 1.0478047132492065, 0.04535906761884689, 0.0, 0.0, 0.4822549521923065, 0.4998663663864136, 0.038935594260692596, 0.1049845814704895, 0.2942654490470886, 0.23976534605026245, 0.05513804405927658, 0.03972732648253441, 0.049480412155389786, 0.0, 0.02666347473859787, 0.04758715629577637, 0.3412724435329437, 0.0, 0.0, 0.0, 0.05409194156527519, 0.04659461975097656, 1.3397374153137207, -0.47871479392051697, -0.0005348154227249324, 1.6600514650344849, 0.08762998878955841, -0.07336758822202682, 0.5190519690513611, 1.525758981704712, 0.0, 0.8267645835876465, 0.3490658402442932, 0.2917017638683319, 1.2097355127334595, 0.22579342126846313, 0.24777670204639435, 0.9274349212646484, 1.5707963705062866, 0.27181291580200195, 1.7453292608261108, 1.3313992023468018, 1.5707963705062866, 0.2085360884666443, 1.7453292608261108, 1.2655342817306519, 0.08660279214382172, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106767177581787, 0.6612846851348877, 0.0, 0.07634487003087997, 0.046358123421669006, -0.5532761812210083], "mean": [1.1499364376068115, -0.5878995060920715, -0.14297594130039215, 1.0463080406188965, -0.1011011078953743, -0.12940268218517303, 0.4721224009990692, 0.9820148944854736, 0.0344143882393837, -0.25802767276763916, -0.28529831767082214, 0.45809707045555115, 0.3660104274749756, 0.02422390505671501, 0.07634436339139938, 0.2780514657497406, 0.1324326992034912, 0.04304404929280281, 0.013952539302408695, 0.0436512790620327, -0.010383373126387596, 0.008071854710578918, 0.023683298379182816, 0.3210521638393402, 0.0, -0.11740265786647797, -0.11714188009500504, 0.024721845984458923, 0.021141650155186653, 1.0924072265625, -0.7160577178001404, -0.21765902638435364, 1.427342414855957, -1.1278202533721924, -0.39888760447502136, 0.07982812821865082, 1.3190652132034302, -0.20711539685726166, 0.5688524842262268, -0.008046348579227924, -0.02438703365623951, 0.869794487953186, 0.15741565823554993, 0.04491068050265312, 0.4455840587615967, 1.3942347764968872, 0.15210990607738495, 1.5251739025115967, 1.1046929359436035, 1.3849623203277588, 0.12448039650917053, 1.5367578268051147, 1.0212149620056152, 0.07190164923667908, 1.3755778074264526, 0.2436511367559433, 1.5666617155075073, 1.2533180713653564, 0.5626831650733948, -1.1067684888839722, 0.646766185760498, -0.009530014358460903, 0.06821541488170624, 0.014338658191263676, -0.837192714214325], "std": [0.02212478592991829, 0.040844667702913284, 0.02772638574242592, 0.10250876098871231, 0.019448446109890938, 0.15545834600925446, 0.08296302706003189, 0.22421030700206757, 0.013536794111132622, 0.05930112302303314, 0.06568729877471924, 0.1052088662981987, 0.15213733911514282, 0.009270892478525639, 0.029712703078985214, 0.06386672705411911, 0.11391405761241913, 0.011559044010937214, 0.012774723581969738, 0.01113771740347147, 0.02182682789862156, 0.011658319272100925, 0.014238259755074978, 0.07376016676425934, 0.0, 0.03100053407251835, 0.031239673495292664, 0.014349821023643017, 0.012350743636488914, 0.059077873826026917, 0.1117987409234047, 0.03882347419857979, 0.14403609931468964, 0.3678642213344574, 0.16735075414180756, 0.18746837973594666, 0.299214631319046, 0.0572381466627121, 0.21314753592014313, 0.12923888862133026, 0.0970572754740715, 0.2853769361972809, 0.08674607425928116, 0.02920880913734436, 0.2631770670413971, 0.4744814932346344, 0.063679039478302, 0.5652013421058655, 0.41799822449684143, 0.49310848116874695, 0.05908491089940071, 0.5618833899497986, 0.3859470784664154, 0.026939863339066505, 0.5191220641136169, 0.10050354152917862, 0.4917135536670685, 0.39337271451950073, 1.8112184818619426e-07, 2.7267973564448766e-05, 0.021359596401453018, 0.007929477840662003, 0.013620869256556034, 0.007967663928866386, 0.07696683704853058], "count": [958]}, "observation.state.tcp_pose": {"min": [0.36162662506103516, 0.1924312859773636, 0.9391261339187622, -1.2103897333145142, 1.2160674333572388, -1.4240248203277588, 0.31726711988449097, -0.218828484416008, 0.9050229787826538, -0.32649168372154236, 1.2233902215957642, 0.6410690546035767], "max": [0.45508283376693726, 0.26462647318840027, 1.0517494678497314, -0.893599271774292, 1.692304015159607, -1.213270664215088, 0.4986669719219208, -0.01973533257842064, 1.0516332387924194, 1.2422126531600952, 2.20180344581604, 1.3913336992263794], "mean": [0.4399572014808655, 0.24903984367847443, 0.9622938632965088, -1.1160730123519897, 1.5456606149673462, -1.3725072145462036, 0.3645898699760437, -0.13525952398777008, 0.9397006630897522, 0.02323107421398163, 1.9349455833435059, 0.9722282886505127], "std": [0.015475122258067131, 0.01195460930466652, 0.022164126858115196, 0.07000892609357834, 0.12673114240169525, 0.037271469831466675, 0.03842119872570038, 0.048955172300338745, 0.0345902219414711, 0.37871602177619934, 0.18740224838256836, 0.1827545464038849], "count": [958]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.1924280971288681, 0.9394834041595459, -1.2284448146820068, 1.2130460739135742, -1.4245637655258179, 0.3171512484550476, -0.21865077316761017, 0.9048798084259033, -0.3277037739753723, 1.219154715538025, 0.6412678956985474], "max": [0.4548424184322357, 0.26379474997520447, 1.0518032312393188, -0.8810752630233765, 1.6915196180343628, -1.1846656799316406, 0.4983343482017517, -0.019711920991539955, 1.051729440689087, 1.237159013748169, 2.2023305892944336, 1.39301598072052], "mean": [0.4399941563606262, 0.24904245138168335, 0.9622661471366882, -1.1160470247268677, 1.5454957485198975, -1.3722153902053833, 0.36465418338775635, -0.13533368706703186, 0.9397398829460144, 0.022750206291675568, 1.9345641136169434, 0.9720845222473145], "std": [0.015506104566156864, 0.011843671090900898, 0.022017937153577805, 0.06974087655544281, 0.12671174108982086, 0.03868630528450012, 0.03851256147027016, 0.049031876027584076, 0.034532587975263596, 0.37770918011665344, 0.18709878623485565, 0.1826542764902115], "count": [958]}, "subtask_index": {"min": [64], "max": [342], "mean": [325.6795407098121], "std": [31.525855429165098], "count": [958]}, "observation.tactile": {"min": [-0.023763643577694893, -3.644901516963728e-05, -8.167215128196403e-05, -0.001227633678354323, -0.0002667162916623056, -0.00033889603218995035, -0.013331219553947449, -2.5788205675780773e-05, -5.650864477502182e-05, -0.0014100774424150586, -5.232285548117943e-05, -0.0002760926727205515, -0.004151690285652876, -3.5401550121605396e-05, -7.996443309821188e-05, -0.0004133311449550092, -3.8574686186620966e-05, -5.715417501050979e-05, -0.0027271669823676348, -3.595759335439652e-05, -7.865591760491952e-05, -0.00041723024332895875, -5.5184398661367595e-05, -5.927816891926341e-05, -0.002070970833301544, -5.583665915764868e-05, -0.00012779176176991314, -0.0005651690880768001, -1.037646143231541e-05, -4.944898682879284e-05, -2.2543833255767822, -3.481962994555943e-05, -7.805974746588618e-05, -0.17796184122562408, -0.008028757758438587, -0.04152686521410942, -4.365147113800049, 0.0, 0.0, -0.3656370937824249, -0.031318433582782745, -0.07755578309297562, -0.007509937975555658, -5.205476190894842e-05, -0.00011651183012872934, -0.0009811765048652887, -1.9150777006871067e-05, -0.00015346930013038218, -0.014116145670413971, -4.246078970027156e-05, -9.218556806445122e-05, -0.001126595539972186, -0.00014327274402603507, -0.0002895518555305898, -0.011410587467253208, -3.8022109947633e-05, -8.51081931614317e-05, -0.0011928377207368612, -6.898150604683906e-05, -0.0002453968918416649], "max": [0.00028197490610182285, 0.02205355279147625, 0.0678425282239914, 1.58706575348333e-06, 6.149407272459939e-05, 6.06560570304282e-06, 0.020786624401807785, 0.023663301020860672, 0.06977526098489761, 1.0700475741032278e-06, 0.00030887353932484984, 0.0002534890081733465, 0.007739691063761711, 0.009076274000108242, 0.026843296363949776, 1.5359513554358273e-06, 0.00011400914081605151, 9.142915951088071e-05, 0.005417633801698685, 0.008374753408133984, 0.02431306429207325, 1.4265145864555961e-06, 0.00013754608517047018, 5.984705057926476e-05, 0.0006661475636065006, 0.009395604953169823, 0.026675844565033913, 2.4292501166200964e-06, 5.077685636933893e-05, 8.563701157981995e-06, 5.395148754119873, 11.063899993896484, 7.6471476554870605, 1.4527330449709552e-06, 0.027568239718675613, 0.11957503110170364, 7.724475860595703, 15.883575439453125, 20.00806427001953, 0.0, 0.006367633584886789, 0.12273778021335602, 0.017201535403728485, 0.020315464586019516, 0.06271302700042725, 2.13836597140471e-06, 0.00030900834826752543, 0.0001904119417304173, 0.009102066978812218, 0.02525351755321026, 0.07209974527359009, 1.7050818996722228e-06, 0.00016151338058989495, 0.00014461908722296357, 0.0010724881431087852, 0.018969830125570297, 0.052770063281059265, 1.593324554960418e-06, 0.00013170644524507225, 6.56840256851865e-06], "mean": [-0.0018700782675296068, 0.002807026030495763, 0.008237866684794426, -0.00015273982717189938, -2.4506722184014507e-05, -2.6690580853028223e-05, -0.00048199144657701254, 0.0014188600471243262, 0.004184476565569639, -7.332189125008881e-05, 1.7286268416683015e-07, -8.19791603134945e-06, 0.00011743434879463166, 0.00022359355352818966, 0.0006684220861643553, -1.0106707122758962e-05, -1.0538217338762479e-06, 3.213051058992278e-06, 0.0001810360699892044, 0.0004378691373858601, 0.0013040117919445038, -2.1914367607678287e-05, 3.9003807614790276e-06, 2.319743543921504e-06, 0.00032601479324512184, 0.00011858526704600081, 0.00037052013794891536, -7.559695404779632e-06, -9.661775948188733e-07, 6.718120403093053e-06, 1.2906683683395386, 1.751880168914795, 1.9398119449615479, -0.04112077131867409, 0.005101845134049654, 0.02628004550933838, 0.3033420741558075, 2.8920419216156006, 5.765227794647217, -0.1109694242477417, -0.005402145441621542, 0.007047514896839857, 0.0005958903348073363, 0.003166230395436287, 0.00941908173263073, -0.00016761622100602835, 3.464081237325445e-05, -7.651831310795387e-07, -0.0003414612729102373, 0.0033745893742889166, 0.009823205880820751, -0.00013136080815456808, -6.765747912140796e-06, -1.6143732182172243e-06, -0.0011970658088102937, 0.004697015043348074, 0.013439968228340149, -0.00030583012267015874, 3.5334917356522055e-06, -2.8549033231684007e-05], "std": [0.003277277573943138, 0.003968445584177971, 0.01160351000726223, 0.00021592747361864895, 4.0591527067590505e-05, 5.083341238787398e-05, 0.0017064615385606885, 0.003303296398371458, 0.009714856743812561, 0.00017718400340527296, 2.2080266717239283e-05, 3.100718095083721e-05, 0.0005654575652442873, 0.000958980293944478, 0.002815953455865383, 4.418867320055142e-05, 5.790367595182033e-06, 8.548730875190813e-06, 0.00039282531361095607, 0.0011339707998558879, 0.0033200765028595924, 5.6145967391785234e-05, 1.6447569578303955e-05, 7.380382612609537e-06, 0.00023997672542463988, 0.0007789754890836775, 0.0022272916976362467, 4.5628417865373194e-05, 5.193552169657778e-06, 5.763273293268867e-06, 1.956842064857483, 2.253535747528076, 2.2492942810058594, 0.04901571199297905, 0.008648017421364784, 0.04041718319058418, 2.104627847671509, 3.747939348220825, 6.573304653167725, 0.12555330991744995, 0.008554439060389996, 0.03764525428414345, 0.0020005826372653246, 0.003622049931436777, 0.01088512223213911, 0.00019438890740275383, 5.218127989792265e-05, 2.4360288080060855e-05, 0.0012615385930985212, 0.004024310503154993, 0.011622163467109203, 0.0001645075244596228, 2.6140964109799825e-05, 2.3686476197326556e-05, 0.0013382425531744957, 0.004260675515979528, 0.012178469449281693, 0.0002804362156894058, 1.9565437469282188e-05, 2.9316968721104786e-05], "count": [958]}, "timestamp": {"min": [0.0], "max": [31.9], "mean": [15.950000000000003], "std": [9.218354275875686], "count": [958]}, "frame_index": {"min": [0], "max": [957], "mean": [478.5], "std": [276.5506282762706], "count": [958]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [958]}, "index": {"min": [18225], "max": [19182], "mean": [18703.5], "std": [276.5506282762706], "count": [958]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [958]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.543432891368866]], [[0.5429737567901611]], [[0.5448144674301147]]], "std": [[[0.3003077805042267]], [[0.30024170875549316]], [[0.3014395534992218]]], "count": [958]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25350823998451233]], [[0.25438687205314636]], [[0.25393494963645935]]], "std": [[[0.1582840234041214]], [[0.1601368486881256]], [[0.15931081771850586]]], "count": [958]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.19379346072673798]], [[0.19488683342933655]], [[0.1953512281179428]]], "std": [[[0.13039883971214294]], [[0.1311875432729721]], [[0.1343851089477539]]], "count": [958]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5451695322990417]], [[0.5443982481956482]], [[0.5459978580474854]]], "std": [[[0.29904860258102417]], [[0.29914844036102295]], [[0.3004973828792572]]], "count": [958]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6039215922355652]], [[0.6039215922355652]], [[0.6039215922355652]]], "mean": [[[0.0021378840319812298]], [[0.0021378840319812298]], [[0.0021378840319812298]]], "std": [[[0.02797873504459858]], [[0.02797873504459858]], [[0.02797873504459858]]], "count": [958]}, "observation.images.tactile_raw": {"min": [[[0.027450980618596077]], [[0.027450980618596077]], [[0.027450980618596077]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4683740437030792]], [[0.4683740437030792]], [[0.4683740437030792]]], "std": [[[0.23549972474575043]], [[0.23549972474575043]], [[0.23549972474575043]]], "count": [958]}}}
+{"episode_index": 12, "stats": {"observation.state": {"min": [1.049985647201538, -0.7800098061561584, -0.13890664279460907, 0.909731388092041, -0.1465785652399063, -0.7700412273406982, 0.5199742913246155, 0.006236247718334198, -0.0011812662705779076, -0.2768891155719757, -0.2868860363960266, 0.003098879475146532, -0.00883548054844141, 0.0002207825891673565, 0.0034357141703367233, 0.0008469377062283456, -0.16361819207668304, 0.000597094651311636, 0.0034488330129534006, 0.0008367390255443752, -0.0930430069565773, -0.01833895407617092, 0.0030804420821368694, 0.0007861888152547181, 0.005543334409594536, -0.14205041527748108, -0.0369541309773922, 0.0035491741728037596, 0.0008620141306892037, 0.9915865659713745, -0.8579921126365662, -0.2324165552854538, 0.9929661154747009, -1.0953854322433472, -0.7699096202850342, -0.07604601234197617, 0.007517970632761717, -0.29113152623176575, 0.003062470816075802, -0.20188365876674652, 0.0034782616421580315, 0.0068717412650585175, -0.05726614221930504, 0.003123698988929391, 0.00077111239079386, 0.003675787942484021, -0.0018359303940087557, 0.002622701693326235, 0.0008420600206591189, -0.0022468327078968287, -0.028385795652866364, 0.003596685826778412, 0.0008535890956409276, 0.005769177805632353, -0.07376573234796524, -0.03734736889600754, 0.003471170552074909, 0.0008819681243039668, 0.5622998476028442, -1.1070547103881836, 0.5441796779632568, -0.021092236042022705, 0.0, -0.0001917476038215682, -0.8729309439659119], "max": [1.2223422527313232, -0.47154343128204346, 7.190535143308807e-06, 1.5700076818466187, 3.607251710491255e-05, -0.12787479162216187, 0.6981712579727173, 1.017264723777771, 0.06987610459327698, 0.0018036927795037627, -0.005313914269208908, 0.4796079695224762, 0.505883514881134, 0.1217079684138298, 0.23165223002433777, 0.29514583945274353, 0.4590265154838562, 0.1448192596435547, 0.06013669818639755, 0.045453064143657684, 0.2919280529022217, 0.16400456428527832, 0.35047051310539246, 0.3594745099544525, 0.006056031212210655, 0.21282479166984558, 0.07060534507036209, 0.2285452038049698, 0.19811025261878967, 1.3468650579452515, -0.42924004793167114, -0.00010318418208044022, 1.5699489116668701, 0.1725686490535736, -0.03081144206225872, 0.6096941232681274, 1.5146924257278442, 0.00016116356709972024, 0.8129565715789795, 0.314659059047699, 0.5032828450202942, 1.0992501974105835, 0.2699923515319824, 0.13190412521362305, 0.951029896736145, 1.4687819480895996, 0.2707880735397339, 1.6556724309921265, 1.30825936794281, 1.4693751335144043, 0.21834681928157806, 1.654819369316101, 1.3082345724105835, 0.07004895061254501, 1.4684478044509888, 0.31475064158439636, 1.6552956104278564, 1.3081738948822021, 0.5637379288673401, -1.105904221534729, 0.6568313837051392, 0.0, 0.06768690049648285, 0.0776577740907669, -0.49422943592071533], "mean": [1.1633682250976562, -0.5727095603942871, -0.12806318700313568, 0.9598915576934814, -0.14169302582740784, -0.24552077054977417, 0.6180599331855774, 0.9792822599411011, 0.0616658516228199, -0.26548129320144653, -0.2771871089935303, 0.46417805552482605, 0.40980640053749084, 0.09835833311080933, 0.15371325612068176, 0.28176259994506836, 0.29811644554138184, 0.11923876404762268, 0.038167934864759445, 0.04145042225718498, 0.20818759500980377, 0.10745860636234283, 0.18835683166980743, 0.34146755933761597, 0.005755065008997917, 0.11274555325508118, 0.0200651828199625, 0.08940424770116806, 0.07782866805791855, 1.0906134843826294, -0.6758930087089539, -0.21498674154281616, 1.315900444984436, -1.002882957458496, -0.3910599946975708, 0.18863838911056519, 1.3762083053588867, -0.19130657613277435, 0.5189483761787415, 0.01335208397358656, 0.12815451622009277, 0.8666567206382751, 0.1890011876821518, 0.04438641667366028, 0.475815087556839, 1.3466160297393799, 0.19059017300605774, 1.4943137168884277, 1.1313331127166748, 1.33856999874115, 0.15714681148529053, 1.5026144981384277, 1.1401780843734741, 0.06080120801925659, 1.326887607574463, 0.2778685986995697, 1.5273423194885254, 1.20723557472229, 0.5626838207244873, -1.1067723035812378, 0.6485498547554016, -0.014467747882008553, 0.06238488480448723, 0.050880756229162216, -0.8408492803573608], "std": [0.02538127638399601, 0.03700092062354088, 0.020693818107247353, 0.10105880349874496, 0.02274216152727604, 0.11037527024745941, 0.052369218319654465, 0.16345013678073883, 0.012254675850272179, 0.044920310378074646, 0.045886117964982986, 0.07774806022644043, 0.13606400787830353, 0.025379318743944168, 0.07748590409755707, 0.047678686678409576, 0.16724789142608643, 0.0297832228243351, 0.02046617679297924, 0.010532557964324951, 0.08738946914672852, 0.04815809801220894, 0.12356045097112656, 0.05832556262612343, 7.237918180180714e-05, 0.08638972789049149, 0.03520921617746353, 0.08056120574474335, 0.07063557952642441, 0.06075621023774147, 0.11409419775009155, 0.04218805581331253, 0.1459113359451294, 0.28402411937713623, 0.18708939850330353, 0.1432892382144928, 0.22503796219825745, 0.047017354518175125, 0.1809266209602356, 0.10342644900083542, 0.12461899220943451, 0.23051667213439941, 0.0740535631775856, 0.0233721062541008, 0.26234665513038635, 0.37990686297416687, 0.05620857700705528, 0.4782891273498535, 0.3663668632507324, 0.39902421832084656, 0.051495399326086044, 0.46811220049858093, 0.36877474188804626, 0.017748715355992317, 0.4271419942378998, 0.08857790380716324, 0.4141305685043335, 0.32637304067611694, 9.893588867271319e-05, 8.021107350941747e-05, 0.020539352670311928, 0.004265349358320236, 0.011306453496217728, 0.019257578998804092, 0.07749171555042267], "count": [1230]}, "observation.state.joint_torque": {"min": [-41.840999603271484, -4.914000034332275, -15.82699966430664, -5.696000099182129, -0.29760000109672546, -0.40720000863075256, 1.3495999574661255, -0.9997191429138184, -0.536155104637146, -0.23611102998256683, -0.30321624875068665, -0.11953844130039215, -0.3406097888946533, -0.2417849898338318, -0.16602559387683868, -0.032821137458086014, -0.28975820541381836, -0.20916320383548737, -0.0531281977891922, -0.0321076326072216, -0.3809072971343994, -0.3770694434642792, -0.10127562284469604, -0.046377696096897125, -0.001759204315021634, -0.5756785273551941, -0.780044436454773, -0.08301279693841934, -0.03710215538740158, 7.205999851226807, -13.208999633789062, -0.9210000038146973, -9.187999725341797, -2.1640000343322754, -2.913599967956543, -3.1375999450683594, -1.879726767539978, -0.5921902656555176, -0.43121328949928284, -1.2675433158874512, -0.14444229006767273, -0.9853697419166565, -0.8232202529907227, -0.6375383138656616, -0.21333740651607513, -1.1993303298950195, -0.31566372513771057, -0.5013973712921143, -0.15197613835334778, -1.2319520711898804, -0.3885830342769623, -0.5362627506256104, -0.13057105243206024, -0.14161595702171326, -1.5476157665252686, -0.33773142099380493, -0.28888458013534546, -0.06278826296329498, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-17.784000396728516, 12.71399974822998, -5.572999954223633, 3.822999954223633, 1.8655999898910522, 1.3808000087738037, 3.0696001052856445, 0.8061429262161255, 0.3209289312362671, 0.3554092049598694, 0.48216354846954346, 0.13780125975608826, 0.33773142099380493, 0.2504201829433441, 0.19923073053359985, 0.01855107769370079, 0.3271773159503937, 0.18997392058372498, 0.0796922892332077, 0.022832093760371208, 0.3473260700702667, 0.7215170860290527, 0.12783971428871155, 0.02425910159945488, 0.0013194032944738865, 0.4806915819644928, 0.3550017476081848, 0.0879935771226883, 0.027826614677906036, 43.63349914550781, 22.62299919128418, 16.493999481201172, 9.638999938964844, 0.25679999589920044, 2.523200035095215, 2.9616000652313232, 2.096226215362549, 4.177170276641846, 1.788230299949646, 1.7472213506698608, 0.388499915599823, 2.1463215351104736, 2.1290512084960938, 1.0575830936431885, 0.21333740651607513, 0.7195981740951538, 0.3099069595336914, 0.05644870921969414, 0.03781566023826599, 0.3406098186969757, 0.23506873846054077, 0.059769220650196075, 0.03424813970923424, 0.10291345417499542, 0.38762354850769043, 0.3952992856502533, 0.10957689583301544, 0.032821137458086014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.383914947509766, 3.240896463394165, -11.244914054870605, -1.6600569486618042, 0.32827648520469666, 0.3225749433040619, 2.149264335632324, 0.02599245496094227, -0.005971073638647795, 0.00033945852192118764, -0.004126132465898991, 0.0001606251607881859, 0.027865910902619362, 0.005885486491024494, 0.00807723868638277, -0.00015720240480732173, 0.03747688978910446, -0.02279001660645008, 0.0030033106449991465, 0.0001862067438196391, 0.06529033929109573, 0.10115879029035568, 0.014804620295763016, 0.0011392846936360002, -0.00011871055903611705, 0.11945798248052597, 0.046267181634902954, 0.011250616051256657, 0.0022089590784162283, 22.682912826538086, 3.0941929817199707, 10.308797836303711, -4.023544788360596, -0.5262381434440613, 0.9697041511535645, -0.947038471698761, 0.10301592946052551, 0.6857802271842957, 0.28854161500930786, 0.17197100818157196, 0.038349177688360214, 0.6032416224479675, 0.03600096330046654, 0.3096553385257721, 0.05238613858819008, 0.005848777946084738, -0.01469773892313242, -0.00022271854686550796, 0.00016764324391260743, 0.005443173926323652, -0.013185998424887657, -0.0005264231585897505, -0.0014960352564230561, -0.001034066081047058, 0.00964689813554287, -0.006375375669449568, 0.0007423932547681034, 0.0018817947711795568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.2710297107696533, 1.209524154663086, 0.7242412567138672, 0.8056055903434753, 0.22934649884700775, 0.29043686389923096, 0.20806273818016052, 0.11583656072616577, 0.06885306537151337, 0.03239506855607033, 0.050150495022535324, 0.010987039655447006, 0.06137342005968094, 0.042835284024477005, 0.0161088015884161, 0.00532132713124156, 0.06292617321014404, 0.044346340000629425, 0.009589023888111115, 0.005605609156191349, 0.10617215186357498, 0.12312381714582443, 0.025535544380545616, 0.006707401014864445, 0.0003699646331369877, 0.11533369868993759, 0.11002502590417862, 0.017475690692663193, 0.011554287746548653, 4.391819000244141, 2.2940831184387207, 2.569997549057007, 1.69589102268219, 0.34619709849357605, 0.8361146450042725, 0.9417322874069214, 0.6405616998672485, 1.0032644271850586, 0.4742353558540344, 0.4919649362564087, 0.09126181900501251, 0.8700642585754395, 0.3069516718387604, 0.449716180562973, 0.09493400901556015, 0.0735342875123024, 0.06888114660978317, 0.017874011769890785, 0.009747225791215897, 0.06784112751483917, 0.06513115763664246, 0.01821981370449066, 0.010664956644177437, 0.016625961288809776, 0.08444379270076752, 0.07398020476102829, 0.021385567262768745, 0.005864041857421398, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1230]}, "observation.state.tcp": {"min": [0.3617308735847473, 0.19242827594280243, 0.9562953114509583, -1.2090400457382202, 1.1549828052520752, -1.3721609115600586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.32393917441368103, -0.2297019362449646, 0.8964080214500427, -0.25460854172706604, 1.2180359363555908, 0.5645043849945068, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.47972461581230164, 0.28505438566207886, 1.0518138408660889, -0.8255064487457275, 1.4748380184173584, -1.2066055536270142, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5203692317008972, -0.04843101277947426, 1.0518085956573486, 1.312979817390442, 2.2494351863861084, 1.3343032598495483, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4599749743938446, 0.27300673723220825, 0.9783357977867126, -0.9772006273269653, 1.3474960327148438, -1.2883198261260986, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.38402193784713745, -0.14582301676273346, 0.9317328333854675, 0.11562030017375946, 1.9333033561706543, 1.0083978176116943, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.016887957230210304, 0.01660866104066372, 0.016310492530465126, 0.06275155395269394, 0.07112448662519455, 0.023000527173280716, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03707108274102211, 0.044826652854681015, 0.03387148678302765, 0.32324492931365967, 0.20349882543087006, 0.17454004287719727, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1230]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.13904309272766113, 0.909664511680603, -0.14659327268600464, -0.7699999809265137, 0.5199999809265137, 0.0, 0.0, -0.27449676394462585, -0.29700642824172974, 0.0, -0.032899774610996246, 0.0, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.13203981518745422, -0.026067085564136505, 0.0, 0.0, 0.0, -0.15012450516223907, -0.14207440614700317, 0.0, 0.0, 0.9916378855705261, -0.8580260872840881, -0.2324351966381073, 0.99262535572052, -1.0953749418258667, -0.7693651914596558, -0.07636465132236481, 0.0, -0.29258760809898376, 0.0, -0.20257049798965454, -0.10320284962654114, 0.0, -0.057321853935718536, 0.0, 0.0, 0.0, -0.010151989758014679, 0.0, 0.0, 0.0, -0.03709251433610916, 0.0, 0.0, 0.0, -0.07299835979938507, -0.06758029013872147, 0.0, 0.0, 0.5626833438873291, -1.1069231033325195, 0.5442397594451904, -0.021701717749238014, -6.419080785679411e-18, -3.253056296914589e-18, -0.8726646304130554], "max": [1.2224293947219849, -0.47044554352760315, 0.0, 1.5700000524520874, 0.0, -0.12770585715770721, 0.7950834035873413, 1.024986743927002, 0.07057373970746994, 0.0, 0.0, 0.4822549521923065, 0.5141238570213318, 0.1198529526591301, 0.23621639609336853, 0.29663342237472534, 0.46949711441993713, 0.14487594366073608, 0.06552430987358093, 0.05010339990258217, 0.30268359184265137, 0.16472190618515015, 0.356920450925827, 0.3609936237335205, 0.024121832102537155, 0.2222011536359787, 0.06990259140729904, 0.23408547043800354, 0.20075969398021698, 1.34691321849823, -0.4291760325431824, -0.0003449421201366931, 1.5692754983901978, 0.1725754737854004, -0.030269738286733627, 0.6105375289916992, 1.5229116678237915, 0.0, 0.8240799903869629, 0.3490658402442932, 0.5087599158287048, 1.12153160572052, 0.26270490884780884, 0.136773481965065, 0.95188307762146, 1.5707963705062866, 0.2764148712158203, 1.7453292608261108, 1.3962633609771729, 1.5707963705062866, 0.22540992498397827, 1.7453292608261108, 1.3962633609771729, 0.0810689628124237, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5627790689468384, -1.106767177581787, 0.6572784781455994, -1.1301383553339297e-19, 0.06840954720973969, 0.07811211049556732, -0.45835113525390625], "mean": [1.1633434295654297, -0.5725342035293579, -0.12807521224021912, 0.9596941471099854, -0.14170685410499573, -0.2455907016992569, 0.6232874989509583, 0.98381108045578, 0.06206687539815903, -0.2647806704044342, -0.2839667797088623, 0.4665760099887848, 0.41489750146865845, 0.09756234288215637, 0.1592540293931961, 0.28504419326782227, 0.3035917580127716, 0.11966212838888168, 0.041354212909936905, 0.04465225711464882, 0.21306797862052917, 0.1086762323975563, 0.1917724907398224, 0.34425604343414307, 0.016448011621832848, 0.11901842057704926, 0.012619508430361748, 0.09384599328041077, 0.07968247681856155, 1.090606689453125, -0.6759977340698242, -0.2149672657251358, 1.3155405521392822, -1.00441312789917, -0.39133742451667786, 0.18915539979934692, 1.375977635383606, -0.18892551958560944, 0.5188505053520203, 0.016605380922555923, 0.11796899884939194, 0.8783645629882812, 0.18750818073749542, 0.04746723175048828, 0.48811882734298706, 1.4398369789123535, 0.19015412032604218, 1.5784595012664795, 1.1395704746246338, 1.4314008951187134, 0.15688423812389374, 1.587304711341858, 1.159749984741211, 0.06993936747312546, 1.4234095811843872, 0.28211501240730286, 1.6079106330871582, 1.2863091230392456, 0.5626838803291321, -1.106777548789978, 0.6485973000526428, -0.01451148372143507, 0.06243547424674034, 0.05093545839190483, -0.8408012390136719], "std": [0.02521788515150547, 0.036901168525218964, 0.020665233954787254, 0.10102853924036026, 0.022709863260388374, 0.1106669157743454, 0.06159982457756996, 0.17666687071323395, 0.012842693366110325, 0.04854536056518555, 0.05208687111735344, 0.08554115891456604, 0.14194363355636597, 0.02516544796526432, 0.07892844080924988, 0.05229813978075981, 0.17347504198551178, 0.030728140845894814, 0.023322785273194313, 0.011517595499753952, 0.09153871238231659, 0.04981424659490585, 0.1252652108669281, 0.06333845853805542, 0.007481371518224478, 0.09005368500947952, 0.051140349358320236, 0.08292272686958313, 0.07188444584608078, 0.060395367443561554, 0.11413021385669708, 0.042126141488552094, 0.14604395627975464, 0.28141894936561584, 0.18704810738563538, 0.14375446736812592, 0.24025219678878784, 0.050280503928661346, 0.18619821965694427, 0.10948122292757034, 0.13673263788223267, 0.2416355460882187, 0.07280679047107697, 0.02716272696852684, 0.2715347707271576, 0.41361165046691895, 0.057451121509075165, 0.5045352578163147, 0.36893582344055176, 0.43211501836776733, 0.053690556436777115, 0.4965372085571289, 0.37747716903686523, 0.02227921225130558, 0.458488792181015, 0.09337785840034485, 0.44452208280563354, 0.35562664270401, 7.411944807245163e-06, 2.469113314873539e-05, 0.020802760496735573, 0.004294675774872303, 0.011513224802911282, 0.019312867894768715, 0.07784474641084671], "count": [1230]}, "observation.state.tcp_pose": {"min": [0.3617308735847473, 0.19242827594280243, 0.9562953114509583, -1.2090400457382202, 1.1549828052520752, -1.3721609115600586, 0.32393917441368103, -0.2297019362449646, 0.8964080214500427, -0.25460854172706604, 1.2180359363555908, 0.5645043849945068], "max": [0.47972461581230164, 0.28505438566207886, 1.0518138408660889, -0.8255064487457275, 1.4748380184173584, -1.2066055536270142, 0.5203692317008972, -0.04843101277947426, 1.0518085956573486, 1.312979817390442, 2.2494351863861084, 1.3343032598495483], "mean": [0.4599749743938446, 0.27300673723220825, 0.9783357977867126, -0.9772006273269653, 1.3474960327148438, -1.2883198261260986, 0.38402193784713745, -0.14582301676273346, 0.9317328333854675, 0.11562030017375946, 1.9333033561706543, 1.0083978176116943], "std": [0.016887957230210304, 0.01660866104066372, 0.016310492530465126, 0.06275155395269394, 0.07112448662519455, 0.023000527173280716, 0.03707108274102211, 0.044826652854681015, 0.03387148678302765, 0.32324492931365967, 0.20349882543087006, 0.17454004287719727], "count": [1230]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.1924280971288681, 0.9597718119621277, -1.2208447456359863, 1.1039388179779053, -1.3748775720596313, 0.3238670527935028, -0.22942383587360382, 0.8967337608337402, -0.2554428279399872, 1.2190561294555664, 0.5646985769271851], "max": [0.47662875056266785, 0.28442659974098206, 1.0518032312393188, -0.7533235549926758, 1.4727134704589844, -1.1808514595031738, 0.5190889239311218, -0.049008481204509735, 1.0517051219940186, 1.3184715509414673, 2.2497458457946777, 1.343075156211853], "mean": [0.4599163830280304, 0.272950142621994, 0.9786341190338135, -0.9734756350517273, 1.343686819076538, -1.2908324003219604, 0.38408753275871277, -0.14587828516960144, 0.9317227005958557, 0.11385287344455719, 1.9329363107681274, 1.0081779956817627], "std": [0.016821904107928276, 0.01665930077433586, 0.016348499804735184, 0.06904502213001251, 0.07708520442247391, 0.022148845717310905, 0.03704436495900154, 0.04482016712427139, 0.03363083675503731, 0.32241013646125793, 0.2023000717163086, 0.1746235489845276], "count": [1230]}, "subtask_index": {"min": [343], "max": [375], "mean": [358.3414634146341], "std": [8.811881546809568], "count": [1230]}, "observation.tactile": {"min": [-0.02279065176844597, -3.459938307059929e-05, -7.753427780698985e-05, -0.001350539387203753, -0.0003163001674693078, -0.0002975681272801012, -0.011938093230128288, -2.3202075681183487e-05, -4.7228320909198374e-05, -0.0015759447123855352, -4.9474238039692864e-05, -0.00023386129760183394, -0.012547778896987438, -3.5675537219503894e-05, -7.942265074234456e-05, -0.0013042570790275931, -2.968565240735188e-05, -0.0002552945225033909, -0.004896937403827906, -3.6704666854348034e-05, -8.106594032142311e-05, -0.000823597249109298, -8.127384353429079e-05, -0.00010351512173656374, -0.0021080898586660624, -5.6525954278185964e-05, -0.00012782597332261503, -0.0005680453032255173, -4.8108366172527894e-05, -3.402510628802702e-05, -1.9997775554656982, -4.089385402039625e-05, -9.053161193151027e-05, -0.19946514070034027, -0.022521313279867172, -0.043191611766815186, -5.670840263366699, 0.0, 0.0, -0.33799874782562256, -0.0352330282330513, -0.08986253291368484, -0.007668002974241972, -4.8334317398257554e-05, -0.00010708636546041816, -0.001308311359025538, -1.1122150681330822e-05, -0.0001895365712698549, -0.013169589452445507, -4.097413329873234e-05, -8.90511873876676e-05, -0.0021582492627203465, -2.860355016309768e-05, -0.00030077449628151953, -0.012960507534444332, -4.7035056923050433e-05, -0.00010668290633475408, -0.0010907453252002597, -9.72327179624699e-05, -0.00016055061132647097], "max": [0.0004443771322257817, 0.025503961369395256, 0.076753631234169, 1.5086272924236255e-06, 0.00015412276843562722, 5.832948772876989e-06, 0.01417812705039978, 0.03131834417581558, 0.09063150733709335, 8.726143505555228e-07, 0.0003491384850349277, 0.00013214285718277097, 0.0010968552669510245, 0.022583365440368652, 0.0657801702618599, 1.520827026979532e-06, 9.253698226530105e-05, 5.9515364227991085e-06, 0.002984267193824053, 0.014298765920102596, 0.042772892862558365, 1.4695908703288296e-06, 0.00012496637646108866, 1.0287308214174118e-05, 0.0017886417917907238, 0.009723199531435966, 0.027438120916485786, 2.466488922436838e-06, 9.97248207568191e-05, 1.1238540537306108e-05, 6.629685878753662, 11.869007110595703, 10.190651893615723, 1.6625616581222857e-06, 0.03715706616640091, 0.13850551843643188, 8.54353141784668, 12.48056411743164, 18.721359252929688, 0.0, 0.011454304680228233, 0.1616058647632599, 0.023354001343250275, 0.02554463967680931, 0.07624725997447968, 1.9416493159951642e-06, 0.00041420580237172544, 0.00026286893989890814, 0.06185748428106308, 0.03580404818058014, 0.1135474294424057, 1.6261611790469033e-06, 0.0006050026277080178, 0.0009993512649089098, 0.004104906693100929, 0.017133770510554314, 0.04757096245884895, 1.97933150047902e-06, 0.00012879165296908468, 7.309706415981054e-05], "mean": [-0.0026189954951405525, 0.004161532502621412, 0.012082239612936974, -0.000206521523068659, -2.979336932185106e-05, -3.290293534519151e-05, -0.0010340785374864936, 0.005886660888791084, 0.017415625974535942, -0.0003149929689243436, 4.756657290272415e-05, -3.6335237382445484e-05, -0.00016894511645659804, 0.0007216280791908503, 0.002137443982064724, -3.634521272033453e-05, -1.1446053349573049e-06, -1.899192398013838e-06, 5.619990042760037e-05, 0.0004331277741584927, 0.0012867080513387918, -2.40788340306608e-05, -4.5229444367578253e-07, 1.3370178066907101e-06, 0.00027954441611655056, 0.0011159619316458702, 0.003293098183348775, -6.698427750961855e-05, 1.0845176802831702e-05, 1.8975518969455152e-06, 1.1108436584472656, 1.7769855260849, 2.027916431427002, -0.03800872713327408, 0.0022872714325785637, 0.022692574188113213, 0.41761717200279236, 2.412184476852417, 4.656830310821533, -0.09215755015611649, -0.00600578123703599, 0.010260667651891708, -0.0003611260326579213, 0.005178818479180336, 0.01522191520780325, -0.00030805013375356793, 3.95508723158855e-05, -2.1993324480718002e-05, 0.01496424525976181, 0.011248549446463585, 0.034854814410209656, -0.0006278694490902126, 0.00016452505951747298, 0.00021415679657366127, -5.843344843015075e-05, 0.0017244922928512096, 0.005059204995632172, -0.00010275381646351889, 1.2448625057004392e-05, -5.155460712558124e-06], "std": [0.004376259632408619, 0.005680443719029427, 0.016464712098240852, 0.00027900454006157815, 6.598929030587897e-05, 5.433271871879697e-05, 0.002797669731080532, 0.005407524295151234, 0.016049912199378014, 0.00029829872073605657, 6.945738277863711e-05, 4.564674600260332e-05, 0.001144214766100049, 0.0020807250402867794, 0.006105130072683096, 0.00010879945330088958, 7.72014755057171e-06, 2.112160473188851e-05, 0.0005638772272504866, 0.0013118963688611984, 0.003818018361926079, 7.370841922238469e-05, 1.0111243682331406e-05, 1.1216420716664288e-05, 0.0002515249070711434, 0.0016419840976595879, 0.004760314244776964, 9.766669973032549e-05, 1.8371873011346906e-05, 7.48292541175033e-06, 1.9189893007278442, 2.571223497390747, 2.8098361492156982, 0.051247816532850266, 0.009771705605089664, 0.039443694055080414, 2.0900661945343018, 3.252487897872925, 6.092531204223633, 0.11803825199604034, 0.010222487151622772, 0.03717992454767227, 0.001264115679077804, 0.00429800758138299, 0.0124965226277709, 0.0002594263351056725, 3.74210903828498e-05, 2.623663385747932e-05, 0.014033169485628605, 0.006742372643202543, 0.021264873445034027, 0.0003838530683424324, 0.00010846759687410668, 0.00022541194630321115, 0.0008142623119056225, 0.0027298873756080866, 0.007863561622798443, 0.00016821932513266802, 2.2914029614184983e-05, 1.8960339730256237e-05], "count": [1230]}, "timestamp": {"min": [0.0], "max": [40.96666666666667], "mean": [20.483333333333334], "std": [11.835676606799494], "count": [1230]}, "frame_index": {"min": [0], "max": [1229], "mean": [614.5], "std": [355.07029820398475], "count": [1230]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1230]}, "index": {"min": [19183], "max": [20412], "mean": [19797.5], "std": [355.07029820398475], "count": [1230]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1230]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5420063734054565]], [[0.5417007207870483]], [[0.543341338634491]]], "std": [[[0.2989930212497711]], [[0.299067884683609]], [[0.29975423216819763]]], "count": [1230]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25652945041656494]], [[0.2576768696308136]], [[0.2569864094257355]]], "std": [[[0.15737402439117432]], [[0.15926897525787354]], [[0.15827257931232452]]], "count": [1230]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.1932019293308258]], [[0.1944369375705719]], [[0.1936596781015396]]], "std": [[[0.13070273399353027]], [[0.13196222484111786]], [[0.1348792463541031]]], "count": [1230]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5445201992988586]], [[0.544222891330719]], [[0.5455390214920044]]], "std": [[[0.2985702455043793]], [[0.298612117767334]], [[0.2996805012226105]]], "count": [1230]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5882353186607361]], [[0.5882353186607361]], [[0.5882353186607361]]], "mean": [[[0.0018524389015510678]], [[0.0018524389015510678]], [[0.0018524389015510678]]], "std": [[[0.025874530896544456]], [[0.025874530896544456]], [[0.025874530896544456]]], "count": [1230]}, "observation.images.tactile_raw": {"min": [[[0.0313725508749485]], [[0.0313725508749485]], [[0.0313725508749485]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4685467481613159]], [[0.4685467481613159]], [[0.4685467481613159]]], "std": [[[0.2355453073978424]], [[0.2355453073978424]], [[0.2355453073978424]]], "count": [1230]}}}
+{"episode_index": 13, "stats": {"observation.state": {"min": [1.0499886274337769, -0.7800270915031433, -0.17592231929302216, 1.107100486755371, -2.0013656467199326e-05, -0.7700390219688416, 0.4232879877090454, 0.006223781034350395, -0.028598453849554062, -0.2769968509674072, -0.3146575689315796, 0.0030903699807822704, 0.0035622073337435722, -0.00023697344295214862, 0.0034233045298606157, 0.0008500416879542172, -0.1583176851272583, -0.014088639058172703, 0.0034385507460683584, 0.000812794198282063, -0.12324388325214386, -0.039362624287605286, 0.0031350450590252876, 0.0008119073463603854, 0.00552727933973074, -0.1436339020729065, -0.038253068923950195, 0.0035087543074041605, 0.000848267984110862, 1.0341174602508545, -0.7797064781188965, -0.2261611372232437, 0.9948353171348572, -1.297293782234192, -0.7693655490875244, -0.24082861840724945, 0.00789070688188076, -0.299731582403183, 0.003251685295253992, -0.27837270498275757, 0.003474361728876829, 0.0051297652535140514, -0.21979808807373047, 0.003123698988929391, 0.0007790939998812973, 0.002961433259770274, -0.10404511541128159, 0.0026078098453581333, 0.0008824115502648056, -7.31029431335628e-05, -0.032065752893686295, 0.0034800346475094557, 0.0008651180542074144, 0.005864439532160759, -0.0694570317864418, -0.03754729777574539, 0.0034807438496500254, 0.0008562495931982994, 0.5623956918716431, -1.1070547103881836, 0.5441796779632568, -0.02310558594763279, -0.010546118021011353, -9.58738019107841e-05, -0.8729309439659119], "max": [1.2661324739456177, -0.5878065228462219, -8.868326403899118e-06, 1.5699800252914429, 0.017558807507157326, 0.06281399726867676, 0.6981604695320129, 1.0611053705215454, 0.033210817724466324, 0.0003058871952816844, -0.0038333444390445948, 0.4796026647090912, 0.7563554048538208, 0.08605669438838959, 0.22830338776111603, 0.290508508682251, 0.4987649917602539, 0.13062980771064758, 0.13340960443019867, 0.041633859276771545, 0.18145081400871277, 0.1341203898191452, 0.22792719304561615, 0.33675751090049744, 0.006104196887463331, 0.0839533880352974, 0.03661412373185158, 0.11152775585651398, 0.09947438538074493, 1.3115594387054443, -0.21152529120445251, -0.00027611656696535647, 1.575835943222046, 0.32452383637428284, 0.2186906486749649, 0.5764497518539429, 1.537115216255188, 0.00017272717377636582, 0.8295006155967712, 0.3157132863998413, 0.27125975489616394, 1.0746101140975952, 0.26712700724601746, 0.2819466292858124, 0.8507715463638306, 1.4688446521759033, 0.28214961290359497, 1.6556735038757324, 1.2992689609527588, 1.4687981605529785, 0.2522158622741699, 1.6548268795013428, 1.3082127571105957, 0.06964543461799622, 1.468624472618103, 0.31469860672950745, 1.655295968055725, 1.3081809282302856, 0.5636420845985413, -1.106191873550415, 0.6826214790344238, 0.010929613374173641, 0.04640292003750801, 0.22194784879684448, -0.5169515013694763], "mean": [1.226707935333252, -0.7553679943084717, -0.15138718485832214, 1.1530296802520752, 0.0168298427015543, -0.1415143609046936, 0.5182705521583557, 1.0096088647842407, 0.01239663828164339, -0.25246894359588623, -0.2969904839992523, 0.46867242455482483, 0.6153357625007629, 0.0579201839864254, 0.20231328904628754, 0.2830631732940674, 0.3690091371536255, 0.0939318835735321, 0.011407269164919853, 0.03752429783344269, 0.1568395048379898, 0.0925980731844902, 0.16628225147724152, 0.3258156180381775, 0.0058786398731172085, 0.058851856738328934, -0.0016993277240544558, 0.04615508392453194, 0.04012119770050049, 1.1287485361099243, -0.5499391555786133, -0.22002871334552765, 1.329372763633728, -1.1050009727478027, -0.28082847595214844, 0.021242337301373482, 1.3438540697097778, -0.1979801058769226, 0.5759520530700684, -0.02718866989016533, 0.05387479066848755, 0.8748295307159424, 0.17045967280864716, 0.060135796666145325, 0.44833892583847046, 1.3833807706832886, 0.19058610498905182, 1.5453981161117554, 1.0727949142456055, 1.3794224262237549, 0.15342046320438385, 1.5500555038452148, 1.0411558151245117, 0.06443815678358078, 1.3712916374206543, 0.2558594048023224, 1.5658888816833496, 1.2372205257415771, 0.5626829266548157, -1.1067827939987183, 0.6543084383010864, -0.008921644650399685, 0.02831302583217621, 0.19373321533203125, -0.8588923811912537], "std": [0.03068968467414379, 0.027121592313051224, 0.02139269933104515, 0.0541144497692585, 0.0022665956057608128, 0.1670946478843689, 0.07854516804218292, 0.13986188173294067, 0.010123059153556824, 0.03894222900271416, 0.04255470260977745, 0.06593109667301178, 0.17785872519016266, 0.015121967531740665, 0.056592658162117004, 0.040197208523750305, 0.13561542332172394, 0.022922609001398087, 0.010592019185423851, 0.008460519835352898, 0.061713628470897675, 0.038186248391866684, 0.06023233011364937, 0.0466458834707737, 0.00011477191583253443, 0.05012930557131767, 0.019025949761271477, 0.036221638321876526, 0.03190488740801811, 0.044981349259614944, 0.1696755290031433, 0.026680244132876396, 0.14421050250530243, 0.3336713910102844, 0.16464051604270935, 0.17454852163791656, 0.1949836164712906, 0.05117211118340492, 0.1802971512079239, 0.11103283613920212, 0.07554894685745239, 0.2073982059955597, 0.0810149610042572, 0.04861200600862503, 0.26115894317626953, 0.3243958652019501, 0.06471163034439087, 0.4028414189815521, 0.28249862790107727, 0.33297625184059143, 0.0556267686188221, 0.3942869305610657, 0.2802298367023468, 0.015252260491251945, 0.3577496111392975, 0.07293939590454102, 0.3541037142276764, 0.27913862466812134, 7.85346346674487e-05, 6.556759035447612e-05, 0.02037203684449196, 0.007870801724493504, 0.010525423102080822, 0.04265560582280159, 0.058693017810583115], "count": [1796]}, "observation.state.joint_torque": {"min": [-42.33150100708008, -1.9424999952316284, -19.302000045776367, -5.984000205993652, -0.2824000120162964, -0.6679999828338623, 0.42640000581741333, -0.837981104850769, -0.5870961546897888, -0.30321624875068665, -0.25972211360931396, -0.11787818372249603, -0.25713640451431274, -0.2705689072608948, -0.08135254681110382, -0.032821137458086014, -0.27632570266723633, -0.3031907081604004, -0.09629485011100769, -0.03068062849342823, -0.48452943563461304, -0.43655622005462646, -0.09629485011100769, -0.04709119349718094, -0.0013194032944738865, -0.3914613723754883, -0.37515053153038025, -0.07139100879430771, -0.03638865053653717, 3.5834999084472656, -8.163000106811523, -4.1620001792907715, -11.49899959564209, -1.5703999996185303, -4.860799789428711, -3.1407999992370605, -1.933214783668518, -0.8481693267822266, -1.242689609527588, -1.1855257749557495, -0.09463459998369217, -0.6265301704406738, -1.0026401281356812, -0.18428844213485718, -0.15483014285564423, -1.0429376363754272, -0.3789883553981781, -0.5146793723106384, -0.07135029137134552, -0.7762065529823303, -0.3358124792575836, -0.10127562284469604, -0.10060391575098038, -0.150851771235466, -1.1417624950408936, -0.3924208879470825, -0.41174352169036865, -0.07705831527709961, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-12.946499824523926, 11.430000305175781, -4.077000141143799, 0.7910000085830688, 1.7591999769210815, 1.0576000213623047, 3.334399938583374, 0.687704861164093, 0.3731435537338257, 0.5231723189353943, 0.5430553555488586, 0.11123716086149216, 0.39913710951805115, 0.23314981162548065, 0.12949997186660767, 0.01783757284283638, 0.3952992856502533, 0.19477124512195587, 0.12119869887828827, 0.01783757284283638, 0.30606910586357117, 0.9239640235900879, 0.12119869887828827, 0.021405089646577835, 0.001759204315021634, 0.34732604026794434, 0.3463665843009949, 0.10127562284469604, 0.028540121391415596, 47.33549880981445, 14.278499603271484, 19.398000717163086, 3.1619999408721924, 0.30079999566078186, 3.0055999755859375, 2.7583999633789062, 2.482105016708374, 3.508568286895752, 2.4567973613739014, 2.0032155513763428, 0.7271921634674072, 2.1434431076049805, 1.2568981647491455, 1.0592433214187622, 0.21476440131664276, 0.8472069501876831, 0.25233909487724304, 0.06641025096178055, 0.12629002332687378, 0.23986604809761047, 0.28592032194137573, 0.728852391242981, 0.03710215538740158, 0.11522789299488068, 0.5209890604019165, 0.44423192739486694, 0.10957689583301544, 0.0642152652144432, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.806100845336914, 4.506231784820557, -12.929356575012207, -1.5675230026245117, 0.09652569144964218, -0.05255238711833954, 2.108764410018921, 0.03076253831386566, 0.006135761737823486, 0.019803468137979507, -0.009550526738166809, -4.4373038690537214e-05, 0.025309422984719276, -0.002040732419118285, 0.0017221946036443114, 0.00025743269361555576, 0.029178228229284286, -0.020294124260544777, 0.0010288762860000134, 0.002948163775727153, -0.03469780460000038, 0.11250534653663635, 0.007717071566730738, -0.00032854563323780894, -3.6241930502001196e-05, 0.024267666041851044, 0.0007489952258765697, 0.00897794310003519, 0.0005077153327874839, 23.50828742980957, 0.7161886096000671, 10.77849006652832, -4.8391337394714355, -0.4598264694213867, 0.9468317627906799, -0.9563173651695251, 0.11226043850183487, 0.5628841519355774, 0.2937456965446472, 0.16715627908706665, 0.01817038655281067, 0.6229325532913208, -0.06697068363428116, 0.32851091027259827, 0.06665781140327454, 0.004609246738255024, -0.01265252847224474, 1.8479757954992238e-06, 0.001493351999670267, 0.0036156189162284136, -0.018672142177820206, 0.0001321914023719728, -0.0015493660466745496, 0.0006773326313123107, 0.018015047535300255, -0.022576285526156425, 0.00042153499089181423, 0.0015521509340032935, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.1881762742996216, 0.8969895243644714, 0.608893096446991, 0.6804258823394775, 0.3020174503326416, 0.301806777715683, 0.2307974398136139, 0.10500702261924744, 0.07345899939537048, 0.05346093326807022, 0.05596562847495079, 0.00940291304141283, 0.05314493924379349, 0.04046577587723732, 0.013639396987855434, 0.0036995760165154934, 0.06225040555000305, 0.039524421095848083, 0.010724762454628944, 0.007917097769677639, 0.11616165190935135, 0.16020922362804413, 0.01930377073585987, 0.005910094827413559, 0.0002982243022415787, 0.07484177500009537, 0.062400177121162415, 0.014894598163664341, 0.009873954579234123, 3.6514315605163574, 2.7682149410247803, 2.341787338256836, 1.454040288925171, 0.2860611081123352, 0.9921280145645142, 0.7871266603469849, 0.6227341890335083, 0.8257909417152405, 0.45190247893333435, 0.4158800542354584, 0.07626081258058548, 0.8319339156150818, 0.28410428762435913, 0.4384880065917969, 0.09828361868858337, 0.05534423142671585, 0.0648844763636589, 0.013624859042465687, 0.010120538994669914, 0.04642773047089577, 0.06707382202148438, 0.018972091376781464, 0.009985317476093769, 0.014052478596568108, 0.06361234188079834, 0.08210687339305878, 0.017565995454788208, 0.0054674288257956505, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1796]}, "observation.state.tcp": {"min": [0.3617699146270752, 0.19243286550045013, 0.9749029874801636, -1.2405146360397339, 1.1518625020980835, -1.5273102521896362, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.30947694182395935, -0.21530359983444214, 0.9064110517501831, -0.4008774161338806, 1.2182514667510986, 0.6235487461090088, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4631395936012268, 0.3128740191459656, 1.051802396774292, -0.981367290019989, 1.604275107383728, -1.2288846969604492, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49492931365966797, 0.057835958898067474, 1.0517750978469849, 1.4532103538513184, 2.6562256813049316, 1.5764864683151245, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4527442455291748, 0.2937975227832794, 1.0020066499710083, -1.1681594848632812, 1.4000663757324219, -1.3935219049453735, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37352603673934937, -0.09235970675945282, 0.9392955303192139, -0.015323130413889885, 2.043208599090576, 0.9770102500915527, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.011416970752179623, 0.022621534764766693, 0.014629188925027847, 0.0642106682062149, 0.12217824906110764, 0.08930245041847229, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03620883822441101, 0.07559051364660263, 0.024071823805570602, 0.3248705267906189, 0.23052842915058136, 0.24888205528259277, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1796]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.17593111097812653, 1.1047322750091553, 0.0, -0.7699999809265137, 0.42318958044052124, 0.0, -0.040927477180957794, -0.2743673622608185, -0.3259602189064026, 0.0, 0.0, 0.0, 0.0, 0.0, -0.1745329201221466, -0.01887661963701248, 0.0, 0.0, -0.14721974730491638, -0.07467515021562576, 0.0, 0.0, 0.0, -0.1515628844499588, -0.19432562589645386, 0.0, 0.0, 1.0341153144836426, -0.779761552810669, -0.22639025747776031, 0.9947633743286133, -1.297288179397583, -0.7686083316802979, -0.24098439514636993, 0.0, -0.29862770438194275, 0.0, -0.2840633988380432, -0.1745329201221466, 0.0, -0.2189650535583496, 0.0, 0.0, 0.0, -0.12644684314727783, 0.0, 0.0, 0.0, -0.1282685399055481, 0.0, 0.0, 0.0, -0.07230806350708008, -0.19653087854385376, 0.0, 0.0, 0.5626833438873291, -1.1069231033325195, 0.5442397594451904, -0.024065623059868813, -0.020708253607153893, 0.0, -0.8726646304130554], "max": [1.2661287784576416, -0.5876865983009338, 6.938893903907228e-18, 1.5700000524520874, 0.017545172944664955, 0.06307058036327362, 0.7554779052734375, 1.0737864971160889, 0.03164904564619064, 0.0, 0.0, 0.4822549521923065, 0.7657070159912109, 0.08505099266767502, 0.23435236513614655, 0.29588568210601807, 0.5040000081062317, 0.13941138982772827, 0.1471284031867981, 0.04611504077911377, 0.18723540008068085, 0.14305442571640015, 0.23664939403533936, 0.33810877799987793, 0.015416502952575684, 0.09162121266126633, 0.03701787441968918, 0.11986138671636581, 0.10273832827806473, 1.3113689422607422, -0.21142414212226868, -0.000933601229917258, 1.5758922100067139, 0.3244418799877167, 0.22045941650867462, 0.5806992053985596, 1.550226092338562, 0.0, 0.8319416046142578, 0.3490658402442932, 0.2791418731212616, 1.1381179094314575, 0.2960689663887024, 0.2877749502658844, 0.8664593696594238, 1.5707963705062866, 0.2862898111343384, 1.7453292608261108, 1.299904704093933, 1.5707963705062866, 0.2572399973869324, 1.7453292608261108, 1.3129916191101074, 0.08102294057607651, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5627791881561279, -1.106767177581787, 0.6830629110336304, 0.011518452316522598, 0.047152165323495865, 0.22242037951946259, -0.5170131325721741], "mean": [1.2267084121704102, -0.7553101778030396, -0.151396244764328, 1.1529287099838257, 0.016829069703817368, -0.14175446331501007, 0.5192816853523254, 1.0162054300308228, 0.01234610565006733, -0.24977931380271912, -0.30541154742240906, 0.47097504138946533, 0.6205612421035767, 0.057596877217292786, 0.20625725388526917, 0.2869969606399536, 0.3746471703052521, 0.09287281334400177, 0.012408467940986156, 0.03961244225502014, 0.15861450135707855, 0.09710066020488739, 0.17004284262657166, 0.32763656973838806, 0.013007990084588528, 0.06154099479317665, -0.009674112312495708, 0.049064479768276215, 0.04201817512512207, 1.1288963556289673, -0.5500967502593994, -0.22005560994148254, 1.3292236328125, -1.105093240737915, -0.2809390127658844, 0.021914320066571236, 1.3433301448822021, -0.19587504863739014, 0.5756661891937256, -0.02632012590765953, -0.025184806436300278, 0.8822765350341797, 0.17448759078979492, 0.062056273221969604, 0.4702022075653076, 1.480064034461975, 0.1895427256822586, 1.6312143802642822, 1.0756207704544067, 1.4763312339782715, 0.1506257951259613, 1.6366784572601318, 1.0435905456542969, 0.07254130393266678, 1.4709595441818237, 0.25553247332572937, 1.6492263078689575, 1.3193529844284058, 0.5627873539924622, -1.1067885160446167, 0.6543432474136353, -0.008962518535554409, 0.02834913693368435, 0.1937766820192337, -0.858843207359314], "std": [0.030601799488067627, 0.02733580768108368, 0.021361058577895164, 0.05408181622624397, 0.0022659192327409983, 0.16731926798820496, 0.08094626665115356, 0.153810054063797, 0.009965433739125729, 0.042446646839380264, 0.04837954789400101, 0.07288023829460144, 0.18378078937530518, 0.01562025211751461, 0.05944768339395523, 0.04446103423833847, 0.14151303470134735, 0.023665135726332664, 0.011423898860812187, 0.009394570253789425, 0.06444983929395676, 0.04290298372507095, 0.06300965696573257, 0.05089877173304558, 0.004452426452189684, 0.05329591780900955, 0.04737721011042595, 0.03951190412044525, 0.033894676715135574, 0.044994886964559555, 0.1695755124092102, 0.02660049870610237, 0.14423097670078278, 0.33298835158348083, 0.16445451974868774, 0.17512327432632446, 0.20883110165596008, 0.05475069582462311, 0.18446028232574463, 0.1149829551577568, 0.14093177020549774, 0.2149764597415924, 0.0853399932384491, 0.04958941042423248, 0.27905529737472534, 0.3538402020931244, 0.0670367106795311, 0.42510077357292175, 0.28180161118507385, 0.3611563742160797, 0.06405042111873627, 0.41763976216316223, 0.2805628776550293, 0.01878197304904461, 0.38327762484550476, 0.09117917716503143, 0.38048580288887024, 0.30438652634620667, 1.8393433492747135e-05, 2.755662899289746e-05, 0.020610257983207703, 0.007906273938715458, 0.01064304355531931, 0.042764484882354736, 0.058750491589307785], "count": [1796]}, "observation.state.tcp_pose": {"min": [0.3617699146270752, 0.19243286550045013, 0.9749029874801636, -1.2405146360397339, 1.1518625020980835, -1.5273102521896362, 0.30947694182395935, -0.21530359983444214, 0.9064110517501831, -0.4008774161338806, 1.2182514667510986, 0.6235487461090088], "max": [0.4631395936012268, 0.3128740191459656, 1.051802396774292, -0.981367290019989, 1.604275107383728, -1.2288846969604492, 0.49492931365966797, 0.057835958898067474, 1.0517750978469849, 1.4532103538513184, 2.6562256813049316, 1.5764864683151245], "mean": [0.4527442455291748, 0.2937975227832794, 1.0020066499710083, -1.1681594848632812, 1.4000663757324219, -1.3935219049453735, 0.37352603673934937, -0.09235970675945282, 0.9392955303192139, -0.015323130413889885, 2.043208599090576, 0.9770102500915527], "std": [0.011416970752179623, 0.022621534764766693, 0.014629188925027847, 0.0642106682062149, 0.12217824906110764, 0.08930245041847229, 0.03620883822441101, 0.07559051364660263, 0.024071823805570602, 0.3248705267906189, 0.23052842915058136, 0.24888205528259277], "count": [1796]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.1924280971288681, 0.9778345227241516, -1.235173225402832, 1.139147162437439, -1.5299721956253052, 0.30952125787734985, -0.22047720849514008, 0.9062075614929199, -0.4019072353839874, 1.2198615074157715, 0.6223149299621582], "max": [0.46175727248191833, 0.3127187490463257, 1.0518032312393188, -0.9400690793991089, 1.6084717512130737, -1.2107939720153809, 0.49511459469795227, 0.057782191783189774, 1.0516639947891235, 1.4528995752334595, 2.6568922996520996, 1.5811562538146973], "mean": [0.4528173804283142, 0.2938332259654999, 1.0019840002059937, -1.1675666570663452, 1.3992583751678467, -1.3936461210250854, 0.373674601316452, -0.09243418276309967, 0.9393105506896973, -0.015545136295258999, 2.042764186859131, 0.9774643778800964], "std": [0.011391694657504559, 0.022621234878897667, 0.014506256207823753, 0.06566527485847473, 0.12338756024837494, 0.0891985222697258, 0.03620324656367302, 0.075621597468853, 0.02412112057209015, 0.32426807284355164, 0.23015910387039185, 0.24953649938106537], "count": [1796]}, "subtask_index": {"min": [376], "max": [407], "mean": [391.28229398663694], "std": [9.751588213651535], "count": [1796]}, "observation.tactile": {"min": [-0.021806426346302032, -3.4843225876102224e-05, -7.939448551042005e-05, -0.0009317537187598646, -0.00022948585683479905, -0.0004121156525798142, -0.0036289463751018047, -2.9972923584864475e-05, -6.19343772996217e-05, -0.0012011892395094037, -1.2007942132186145e-05, -0.00011558034748304635, -0.012013161554932594, -3.576195376808755e-05, -8.012181206140667e-05, -0.0010690870694816113, -5.2304425480542704e-05, -0.00028480167384259403, -0.005566563457250595, -3.065227792831138e-05, -6.73518079565838e-05, -0.0009182762005366385, -5.388017962104641e-05, -0.0001378663582727313, -0.001579035772010684, -5.315046655596234e-05, -0.00012051349767716601, -0.000378884666133672, -9.8516165962792e-06, -3.5688095522345975e-05, -2.1782732009887695, -3.597788600018248e-05, -7.951020961627364e-05, -0.2320091426372528, -0.0245318915694952, -0.04561774060130119, -6.828397750854492, 0.0, 0.0, -0.34964391589164734, -0.03635517135262489, -0.11889208853244781, -0.004740716423839331, -4.945297405356541e-05, -0.00011174695828231052, -0.0011830540606752038, -3.8441652577603236e-05, -0.0001267013867618516, -0.013580524362623692, -4.653857831726782e-05, -0.00010226127778878435, -0.0015833224169909954, -7.103125972207636e-05, -0.00032299861777573824, -0.0071233962662518024, -4.200204784865491e-05, -9.399875125382096e-05, -0.0010942344088107347, -6.21628132648766e-05, -0.00016982262604869902], "max": [0.00026889503351412714, 0.018250616267323494, 0.05585114657878876, 1.528737016087689e-06, 4.32486085628625e-05, 5.784537279396318e-06, 0.024011019617319107, 0.022196542471647263, 0.07052157819271088, 1.1407290685383487e-06, 0.00042516470421105623, 0.0003326058213133365, 0.0009198057814501226, 0.01927001029253006, 0.05503155663609505, 1.5242327435771585e-06, 0.00015537002764176577, 1.0641904736985452e-05, 0.00024504298926331103, 0.01541065238416195, 0.04316858947277069, 1.2090970358258346e-06, 7.862925122026354e-05, 5.059489012637641e-06, 0.0005991497309878469, 0.006459279917180538, 0.01801418885588646, 2.3020152184471954e-06, 6.649274291703478e-05, 8.224617886298802e-06, 6.0077409744262695, 9.315340042114258, 9.621075630187988, 1.4550605555996299e-06, 0.026408128440380096, 0.13454879820346832, 4.6984171867370605, 17.14354705810547, 19.170860290527344, 0.0, 0.011202565394341946, 0.09133537858724594, 0.009448397904634476, 0.01991392858326435, 0.055025506764650345, 2.055740878859069e-06, 0.00024388763995375484, 7.922808435978368e-05, 0.007034041453152895, 0.030457640066742897, 0.08749674260616302, 1.870700089057209e-06, 0.00018498844292480499, 5.509949551196769e-05, 0.0036063953302800655, 0.01680007576942444, 0.0481918603181839, 1.7775971627997933e-06, 0.00013163140101823956, 3.518131052260287e-05], "mean": [-0.0003228057757951319, 0.0009740053210407495, 0.002935894066467881, -4.639023609342985e-05, -1.051197045853769e-06, -3.821250174951274e-06, 0.0024132155813276768, 0.005941847339272499, 0.01832624338567257, -0.0003122928028460592, 0.000103925442090258, 7.91894126450643e-06, -0.0004716299590654671, 0.0012408377369865775, 0.0036320954095572233, -6.907738134032115e-05, 3.931135324819479e-06, -1.0203419151366688e-05, -0.00022554838506039232, 0.0009552823612466455, 0.002789229853078723, -5.072258136351593e-05, 5.110083520776243e-07, -4.019731932203285e-06, 0.000286015187157318, 0.0002023228444159031, 0.0006174911977723241, -1.2019524547213223e-05, 3.313846974606349e-08, 5.659525868395576e-06, 0.9217199683189392, 1.628646969795227, 1.876206398010254, -0.03895879536867142, 0.0022009892854839563, 0.018672311678528786, -0.5073637962341309, 2.5148465633392334, 4.934768199920654, -0.09901443868875504, -0.006251410581171513, -0.007325019687414169, 8.862194226821885e-05, 0.0015520065790042281, 0.004516590386629105, -9.808736649574712e-05, 9.170380508294329e-06, -2.0780037175427424e-06, -0.0017817604821175337, 0.005929616745561361, 0.01688949018716812, -0.0002915162476710975, 1.2523167924882728e-06, -3.3936070394702256e-05, -0.0013243884313851595, 0.004481183364987373, 0.012533126398921013, -0.00028788266354240477, -3.928137175535085e-06, -2.9497885407181457e-05], "std": [0.0016061249189078808, 0.0019424890633672476, 0.0058007994666695595, 9.740373934619129e-05, 1.5123719094845e-05, 2.6661413357942365e-05, 0.003673168132081628, 0.004683313425630331, 0.014902881346642971, 0.0002533129882067442, 8.809924474917352e-05, 4.296899714972824e-05, 0.0012162025086581707, 0.0023442499805241823, 0.006838134955614805, 0.00013321032747626305, 1.9546541807358153e-05, 2.612753087305464e-05, 0.0008167709456756711, 0.002009639050811529, 0.0057932413183152676, 0.00011364451347617432, 8.16539704828756e-06, 1.7066528016584925e-05, 0.0002221676695626229, 0.0007928000413812697, 0.002280449727550149, 4.444892329047434e-05, 6.551878414029488e-06, 5.841591701027937e-06, 1.5632069110870361, 2.191648483276367, 2.4422972202301025, 0.05148479714989662, 0.0064597586169838905, 0.033050671219825745, 1.8246822357177734, 3.3016622066497803, 5.9707136154174805, 0.11646819114685059, 0.008905583061277866, 0.034190814942121506, 0.0006051991367712617, 0.00257553206756711, 0.00740046426653862, 0.00016199759556911886, 2.029210008913651e-05, 1.5009448361524846e-05, 0.0021530690137296915, 0.005109383724629879, 0.01440200861543417, 0.00025868572993204, 1.735475416353438e-05, 4.35662514064461e-05, 0.0011650810483843088, 0.0034097491297870874, 0.009660828858613968, 0.00022132329468149692, 1.4066320545680355e-05, 2.4098031644825824e-05], "count": [1796]}, "timestamp": {"min": [0.0], "max": [59.833333333333336], "mean": [29.916666666666668], "std": [17.28201537887163], "count": [1796]}, "frame_index": {"min": [0], "max": [1795], "mean": [897.5], "std": [518.4604613661489], "count": [1796]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1796]}, "index": {"min": [20413], "max": [22208], "mean": [21310.5], "std": [518.4604613661489], "count": [1796]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1796]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5410529971122742]], [[0.5406922698020935]], [[0.542917788028717]]], "std": [[[0.30244067311286926]], [[0.30261579155921936]], [[0.3032401204109192]]], "count": [1796]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25828060507774353]], [[0.25909751653671265]], [[0.2583710253238678]]], "std": [[[0.1590360403060913]], [[0.16085152328014374]], [[0.15987391769886017]]], "count": [1796]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.19352704286575317]], [[0.19425025582313538]], [[0.19453072547912598]]], "std": [[[0.1309751570224762]], [[0.13193944096565247]], [[0.13524742424488068]]], "count": [1796]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5417168140411377]], [[0.5414906144142151]], [[0.5433984994888306]]], "std": [[[0.30220285058021545]], [[0.3024168610572815]], [[0.30367016792297363]]], "count": [1796]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.615686297416687]], [[0.615686297416687]], [[0.615686297416687]]], "mean": [[[0.0017447074642404914]], [[0.0017447074642404914]], [[0.0017447074642404914]]], "std": [[[0.0253946240991354]], [[0.0253946240991354]], [[0.0253946240991354]]], "count": [1796]}, "observation.images.tactile_raw": {"min": [[[0.0235294122248888]], [[0.0235294122248888]], [[0.0235294122248888]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4682808220386505]], [[0.4682808220386505]], [[0.4682808220386505]]], "std": [[[0.2353343665599823]], [[0.2353343665599823]], [[0.2353343665599823]]], "count": [1796]}}}
+{"episode_index": 14, "stats": {"observation.state": {"min": [1.0372854471206665, -0.8728595972061157, -0.2526237368583679, 0.9581470489501953, -1.941701054573059, -0.7699340581893921, -0.23587901890277863, 0.006258109584450722, -0.15109245479106903, -0.25917190313339233, -0.3335661292076111, 0.0031073889695107937, -0.10250846296548843, -0.017566213384270668, 0.0034282682463526726, 0.0008402863750234246, -0.1739221215248108, -0.024833403527736664, 0.0034718795213848352, 0.0008407297427766025, -0.16657152771949768, -0.03598317503929138, 0.003102425020188093, 0.0008367390255443752, 0.004711673595011234, -0.143629252910614, -0.03771239519119263, 0.003519036341458559, 0.000854919315315783, 1.0491406917572021, -1.01602303981781, -0.23164716362953186, 0.718889594078064, -1.5138784646987915, -0.7677944302558899, -0.4001297652721405, 0.007391857914626598, -0.31675463914871216, 0.0030702364165335894, -0.20423096418380737, 0.003422949928790331, 0.005119707435369492, -0.12124335765838623, 0.003126889932900667, 0.000735638604965061, 0.00011726022057700902, -0.0038298452273011208, 0.0026414934545755386, 0.0008602404268458486, -0.002207336947321892, -0.024998988956212997, 0.0035346371587365866, 0.0008433902985416353, 0.005726364441215992, -0.07318899780511856, -0.03545084595680237, 0.0034991807769984007, 0.0008793076267465949, 0.5623956918716431, -1.1070547103881836, 0.5445631742477417, -0.015531555749475956, -0.02588592655956745, -0.0028762139845639467, -0.8729309439659119], "max": [1.2395888566970825, -0.5551095008850098, -6.327671144390479e-05, 1.5699539184570312, -0.00033663687645457685, -0.09707533568143845, 0.6981803178787231, 1.3420801162719727, 3.559343167580664e-05, 0.4503442049026489, 0.272956520318985, 0.4797356128692627, 0.9235475659370422, 0.23656851053237915, 0.7707565426826477, 0.351352334022522, 1.4675281047821045, 0.26101377606391907, 1.6534992456436157, 0.6235408186912537, 1.4667237997055054, 0.1946430802345276, 1.6532667875289917, 0.7225101590156555, 0.12348823249340057, 1.3483655452728271, 0.17966076731681824, 1.653708815574646, 1.3083692789077759, 1.2798194885253906, -0.09398534893989563, -0.0013598499353975058, 1.7276092767715454, 0.9160107970237732, 0.26645535230636597, 0.698150634765625, 1.551555871963501, 0.0004144732083659619, 0.8035886883735657, 0.31735825538635254, 0.37554237246513367, 1.0764102935791016, 0.2639720141887665, 1.0237109661102295, 0.9113914370536804, 1.468955397605896, 0.2608693838119507, 1.6556966304779053, 1.3082621097564697, 1.4687713384628296, 0.20769648253917694, 1.65482759475708, 1.308229684829712, 0.06167454272508621, 1.4687085151672363, 0.3136785924434662, 1.6547956466674805, 1.308188796043396, 0.5637379288673401, -1.1060960292816162, 0.6926882266998291, 0.05608617141842842, 0.04343083128333092, 0.18925487995147705, -0.545426070690155], "mean": [1.1306908130645752, -0.7985477447509766, -0.13938619196414948, 1.400976300239563, -0.9725466966629028, -0.5170498490333557, 0.21919433772563934, 1.1000310182571411, -0.09718041867017746, -0.002428997540846467, -0.20354881882667542, 0.4702872335910797, 0.7384315133094788, 0.1851554661989212, 0.23696456849575043, 0.303096741437912, 1.259966492652893, 0.15504369139671326, 1.0887932777404785, 0.43617287278175354, 1.2503547668457031, 0.08858990669250488, 1.4305858612060547, 0.5875560641288757, 0.10399395227432251, 1.0865707397460938, 0.12445533275604248, 1.423843502998352, 1.1267104148864746, 1.141647458076477, -0.5388352870941162, -0.21810100972652435, 1.1917133331298828, -0.7848221063613892, -0.1586204171180725, 0.2253934144973755, 1.3640118837356567, -0.19941671192646027, 0.5330119132995605, 0.0448908731341362, 0.07660117745399475, 0.8319706916809082, 0.15565165877342224, 0.20572449266910553, 0.4877912402153015, 1.3686174154281616, 0.16262906789779663, 1.5438487529754639, 1.1101502180099487, 1.2906023263931274, 0.13801756501197815, 1.575719952583313, 1.1514992713928223, 0.05799547955393791, 1.3951945304870605, 0.23828767240047455, 1.592210292816162, 1.2578421831130981, 0.5626919865608215, -1.1068567037582397, 0.6429566740989685, 0.0014053371269255877, 0.011999462731182575, 0.06426969170570374, -0.8574326038360596], "std": [0.04697776585817337, 0.08714398741722107, 0.03491818532347679, 0.1578468233346939, 0.40536266565322876, 0.12670883536338806, 0.23955141007900238, 0.15095962584018707, 0.022650379687547684, 0.1233580932021141, 0.17649540305137634, 0.06066030636429787, 0.21336443722248077, 0.0581999309360981, 0.15424659848213196, 0.040967170149087906, 0.48782166838645935, 0.03886963799595833, 0.4740779399871826, 0.17025096714496613, 0.4935252368450165, 0.03520265966653824, 0.5371730923652649, 0.12964996695518494, 0.04054567590355873, 0.4433481693267822, 0.057507988065481186, 0.5594132542610168, 0.4414368271827698, 0.05540924519300461, 0.2036767154932022, 0.027428699657320976, 0.22826167941093445, 0.8297303915023804, 0.19438990950584412, 0.23261554539203644, 0.18296228349208832, 0.07101273536682129, 0.18236254155635834, 0.15381790697574615, 0.09006768465042114, 0.19526030123233795, 0.06681478023529053, 0.26196008920669556, 0.2648886740207672, 0.28744596242904663, 0.05580329895019531, 0.38102999329566956, 0.2697713375091553, 0.30112797021865845, 0.05078008770942688, 0.3456656336784363, 0.2674314081668854, 0.011539258062839508, 0.3120306432247162, 0.07066940516233444, 0.28771865367889404, 0.2299247533082962, 7.894624286564067e-05, 6.326653237920254e-05, 0.034992966800928116, 0.016132650896906853, 0.021945033222436905, 0.053169287741184235, 0.050897154957056046], "count": [2206]}, "observation.state.joint_torque": {"min": [-41.4015007019043, -3.694499969482422, -20.426000595092773, -8.184000015258789, -1.1784000396728516, -0.25279998779296875, -2.3447999954223633, -1.7867590188980103, -0.5985579490661621, -0.5492687821388245, -0.38771915435791016, -0.10791664570569992, -0.40585339069366455, -0.23794712126255035, -0.1859486699104309, -0.03496164828538895, -0.7320712208747864, -0.2580958604812622, -0.18096791207790375, -0.032821137458086014, -0.9940049648284912, -2.1367268562316895, -0.43830758333206177, -0.06920978426933289, -0.14953236281871796, -0.5996651649475098, -0.3521233797073364, -0.32042941451072693, -0.05636673793196678, 0.7110000252723694, -9.601499557495117, -10.177000045776367, -10.869000434875488, -5.108799934387207, -5.438399791717529, -4.499199867248535, -2.078397035598755, -0.8787339925765991, -0.8748534917831421, -0.849999725818634, -0.1859486699104309, -0.5507324934005737, -0.9575453400611877, -0.5213204026222229, -0.21333740651607513, -0.7685308456420898, -0.36843428015708923, -0.6308973431587219, -0.09703640639781952, -0.7291927933692932, -0.3262178301811218, -0.10127562284469604, -0.0827663391828537, -0.156129390001297, -1.5677645206451416, -0.47205641865730286, -0.08965382725000381, -0.07206379622220993, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-16.657499313354492, 17.329500198364258, -6.309000015258789, 6.414999961853027, 1.791200041770935, 3.9839999675750732, 3.3208000659942627, 2.2477760314941406, 4.815207481384277, 2.7699549198150635, 1.6279232501983643, 0.7570767998695374, 2.141524076461792, 0.720557689666748, 1.0609036684036255, 0.21333740651607513, 0.9306802749633789, 1.6186161041259766, 0.4233653247356415, 0.05708024278283119, 1.4200071096420288, 0.8663961887359619, 0.5445640087127686, 0.03068062849342823, 0.20318809151649475, 0.7819633483886719, 0.34444767236709595, 0.2739422619342804, 0.06778278201818466, 60.56700134277344, 9.829500198364258, 22.61199951171875, 5.201000213623047, 0.9296000003814697, 2.8928000926971436, 6.671199798583984, 2.2566909790039062, 4.598707675933838, 2.0740487575531006, 2.1038732528686523, 0.667422890663147, 2.1472811698913574, 2.0695643424987793, 1.0609036684036255, 0.21333740651607513, 0.5085160136222839, 0.27152836322784424, 0.17100638151168823, 0.04138316959142685, 0.393380343914032, 0.3597990870475769, 0.08135254681110382, 0.046377696096897125, 0.086201012134552, 0.4125696122646332, 0.44902926683425903, 0.1062563955783844, 0.01783757284283638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-25.522254943847656, 4.779760837554932, -13.087122917175293, -3.7282960414886475, 0.18339994549751282, 1.6400527954101562, 1.4772377014160156, 0.05109464004635811, 0.23980680108070374, 0.13313685357570648, 0.06435815244913101, 0.027604924514889717, 0.1958640217781067, 0.008212852291762829, 0.09117709845304489, 0.018445855006575584, -0.020929858088493347, 0.07818979024887085, 0.0018280920339748263, 9.929807129083201e-05, 0.08377283066511154, -0.11930490285158157, 0.0028298154938966036, -0.0008639029692858458, 0.0014721123734489083, 0.011410057544708252, 0.014050936326384544, 0.001002476317808032, -0.00012225938553456217, 25.202077865600586, 0.7599983215332031, 10.65052318572998, -3.868856906890869, -0.2607920169830322, 0.48304256796836853, -0.9534124135971069, 0.038452841341495514, 0.6277035474777222, 0.2967321276664734, 0.19253601133823395, 0.014346251264214516, 0.631553053855896, -0.005547535605728626, 0.34787875413894653, 0.05958310142159462, 0.0062973457388579845, -0.02118520624935627, 0.00014751157141290605, 0.0011262117186561227, 0.011676668189466, -0.012096833437681198, -0.00020471042080316693, 0.0019066603854298592, -1.773986150510609e-05, 0.023120231926441193, -0.023658720776438713, 0.0007714265375398099, 0.0014609707286581397, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.4475629329681396, 1.6213045120239258, 0.9632259011268616, 1.5682798624038696, 0.2662489712238312, 0.6502082347869873, 0.5704964399337769, 0.39850470423698425, 0.8480080962181091, 0.4712923467159271, 0.22272087633609772, 0.09838617593050003, 0.5771785378456116, 0.05316397175192833, 0.28735092282295227, 0.05835035443305969, 0.11101572960615158, 0.2109215408563614, 0.018039297312498093, 0.00686910143122077, 0.2062019258737564, 0.38720178604125977, 0.024227451533079147, 0.006590751465409994, 0.019962536171078682, 0.09478509426116943, 0.08569549769163132, 0.01447262428700924, 0.006284126080572605, 3.8974547386169434, 2.9012980461120605, 2.7546074390411377, 1.5394378900527954, 0.6426247358322144, 1.3877886533737183, 0.8867006301879883, 0.6442570090293884, 0.8853870630264282, 0.47126367688179016, 0.4620875418186188, 0.08103971928358078, 0.8397261500358582, 0.339253306388855, 0.46412134170532227, 0.09698272496461868, 0.08464066684246063, 0.07201598584651947, 0.025414399802684784, 0.010308993980288506, 0.08759819716215134, 0.0717419758439064, 0.007512541953474283, 0.011422285810112953, 0.011684758588671684, 0.0758524015545845, 0.12928110361099243, 0.012393878772854805, 0.0044129579328000546, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2206]}, "observation.state.tcp": {"min": [0.3378494679927826, 0.06674107909202576, 0.9565016627311707, -1.208554744720459, 1.158524513244629, -1.269862413406372, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2788069248199463, -0.2505331337451935, 0.9025089144706726, -2.301933765411377, -2.1927895545959473, -1.798527479171753, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.48642298579216003, 0.32037749886512756, 1.051711082458496, 0.851762056350708, 1.9725421667099, -0.4006412625312805, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5073793530464172, 0.05965886637568474, 1.0525168180465698, 2.2931013107299805, 2.459486722946167, 1.7978566884994507, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.39179250597953796, 0.22534440457820892, 0.9887961745262146, -0.272195428609848, 1.622999668121338, -0.906297504901886, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3925122320652008, -0.12144114822149277, 0.9410431385040283, -0.31790992617607117, 1.4629759788513184, 0.7099257111549377, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.034596145153045654, 0.04919079691171646, 0.018126551061868668, 0.38265401124954224, 0.1792811006307602, 0.17098212242126465, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04592667892575264, 0.07532373070716858, 0.02860276959836483, 0.9084718823432922, 1.2029902935028076, 0.9596427083015442, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2206]}, "action": {"min": [1.0367567539215088, -0.8728388547897339, -0.2526313364505768, 0.9578897953033447, -1.941704273223877, -0.7699999809265137, -0.2360142171382904, 0.0, -0.1496482491493225, -0.26349523663520813, -0.3304663300514221, 0.0, -0.11549113690853119, -0.018588609993457794, 0.0, 0.0, -0.1745329201221466, -0.030572958290576935, 0.0, 0.0, -0.1745329201221466, -0.06355387717485428, 0.0, 0.0, 0.0, -0.15170665085315704, -0.1850258708000183, 0.0, 0.0, 1.0491629838943481, -1.016038179397583, -0.23163463175296783, 0.718757688999176, -1.5138704776763916, -0.7676066756248474, -0.40047863125801086, 0.0, -0.3170355260372162, 0.0, -0.20554262399673462, -0.1745329201221466, 0.0, -0.12385828047990799, 0.0, 0.0, 0.0, -0.014274485409259796, 0.0, 0.0, 0.0, -0.03431207686662674, 0.0, 0.0, 0.0, -0.07213553786277771, -0.039201803505420685, 0.0, 0.0, 0.5626833438873291, -1.1069231033325195, 0.5442397594451904, -0.01609635353088379, -0.02682381309568882, -0.003800857812166214, -0.8726646304130554], "max": [1.2395713329315186, -0.5536509156227112, 0.0, 1.5700000524520874, 0.0, -0.09669403731822968, 0.8511767387390137, 1.3446300029754639, 0.0, 0.47748926281929016, 0.2763189673423767, 0.4822549521923065, 1.0501086711883545, 0.302800714969635, 0.7790321707725525, 0.36929628252983093, 1.5707963705062866, 0.27046823501586914, 1.7453292608261108, 0.6257967352867126, 1.5707963705062866, 0.2007703185081482, 1.7453292608261108, 0.7266277074813843, 0.13539297878742218, 1.3539297580718994, 0.18073272705078125, 1.7453292608261108, 1.3962633609771729, 1.2796282768249512, -0.09396734833717346, -0.0015520867891609669, 1.7276579141616821, 0.915992259979248, 0.2668707072734833, 0.7343546748161316, 1.557291865348816, 0.0, 0.808356761932373, 0.3490658402442932, 0.38095995783805847, 1.1658254861831665, 0.24659806489944458, 1.0293593406677246, 0.9380772113800049, 1.5707963705062866, 0.26577281951904297, 1.7453292608261108, 1.340890645980835, 1.5707963705062866, 0.21438449621200562, 1.7453292608261108, 1.3731045722961426, 0.07971139252185822, 1.5707963705062866, 0.3474573493003845, 1.7453292608261108, 1.3962633609771729, 0.5627791881561279, -1.106863021850586, 0.6930524706840515, 0.05656036362051964, 0.04456045851111412, 0.19031007587909698, -0.5455570220947266], "mean": [1.1306631565093994, -0.7985563278198242, -0.13938549160957336, 1.4007264375686646, -0.9733709692955017, -0.5168965458869934, 0.22144517302513123, 1.102710247039795, -0.09666550904512405, -0.003754605771973729, -0.20333775877952576, 0.47241371870040894, 0.7499173879623413, 0.18946371972560883, 0.2472897171974182, 0.3079059422016144, 1.3504565954208374, 0.16042307019233704, 1.1031073331832886, 0.43704408407211304, 1.2682384252548218, 0.08816763758659363, 1.500042200088501, 0.5881853699684143, 0.10982345044612885, 1.0894737243652344, 0.12072351574897766, 1.5002624988555908, 1.200984001159668, 1.14167058467865, -0.5389155745506287, -0.2181357443332672, 1.1916524171829224, -0.7846765518188477, -0.1586277037858963, 0.22569455206394196, 1.3625942468643188, -0.1966349333524704, 0.5349118113517761, 0.05156592279672623, 0.023619424551725388, 0.8490464687347412, 0.15032517910003662, 0.22510993480682373, 0.5037388801574707, 1.4195512533187866, 0.16199827194213867, 1.62532377243042, 1.1127381324768066, 1.3350147008895874, 0.137283056974411, 1.6635953187942505, 1.1574699878692627, 0.0659443810582161, 1.494968056678772, 0.23789143562316895, 1.676408052444458, 1.3402599096298218, 0.5626938343048096, -1.1068555116653442, 0.6430031061172485, 0.0013862447813153267, 0.012012182734906673, 0.06429539620876312, -0.8574790954589844], "std": [0.04688339680433273, 0.0871972069144249, 0.03488475829362869, 0.15823669731616974, 0.40629932284355164, 0.1268603354692459, 0.24516358971595764, 0.16523757576942444, 0.026298904791474342, 0.1273939311504364, 0.17856350541114807, 0.06817179918289185, 0.2262408286333084, 0.06344477087259293, 0.17563991248607635, 0.047006718814373016, 0.530066192150116, 0.04212847724556923, 0.490151047706604, 0.17192435264587402, 0.5042362809181213, 0.03659004345536232, 0.5695055723190308, 0.13299353420734406, 0.042506083846092224, 0.4469218850135803, 0.07829246670007706, 0.595730185508728, 0.4758504033088684, 0.055329836905002594, 0.2035297453403473, 0.027362681925296783, 0.22822336852550507, 0.8289992213249207, 0.19449518620967865, 0.23340751230716705, 0.19729523360729218, 0.07181728631258011, 0.1874539703130722, 0.1616119146347046, 0.1428908109664917, 0.20991046726703644, 0.07031658291816711, 0.272695928812027, 0.27890545129776, 0.31710541248321533, 0.05716903507709503, 0.40451371669769287, 0.27017462253570557, 0.3376370966434479, 0.05160374939441681, 0.366230845451355, 0.27092334628105164, 0.01608055830001831, 0.3361036479473114, 0.07327897101640701, 0.31754931807518005, 0.2574080228805542, 1.2177669304946903e-05, 1.0434418982185889e-05, 0.03510803356766701, 0.016185928136110306, 0.022022463381290436, 0.0532241128385067, 0.050946760922670364], "count": [2206]}, "observation.state.tcp_pose": {"min": [0.3378494679927826, 0.06674107909202576, 0.9565016627311707, -1.208554744720459, 1.158524513244629, -1.269862413406372, 0.2788069248199463, -0.2505331337451935, 0.9025089144706726, -2.301933765411377, -2.1927895545959473, -1.798527479171753], "max": [0.48642298579216003, 0.32037749886512756, 1.051711082458496, 0.851762056350708, 1.9725421667099, -0.4006412625312805, 0.5073793530464172, 0.05965886637568474, 1.0525168180465698, 2.2931013107299805, 2.459486722946167, 1.7978566884994507], "mean": [0.39179250597953796, 0.22534440457820892, 0.9887961745262146, -0.272195428609848, 1.622999668121338, -0.906297504901886, 0.3925122320652008, -0.12144114822149277, 0.9410431385040283, -0.31790992617607117, 1.4629759788513184, 0.7099257111549377], "std": [0.034596145153045654, 0.04919079691171646, 0.018126551061868668, 0.38265401124954224, 0.1792811006307602, 0.17098212242126465, 0.04592667892575264, 0.07532373070716858, 0.02860276959836483, 0.9084718823432922, 1.2029902935028076, 0.9596427083015442], "count": [2206]}, "action.tcp_pose": {"min": [0.33804234862327576, 0.06669329851865768, 0.9564290046691895, -1.208855390548706, 1.118507742881775, -1.2778105735778809, 0.2788566052913666, -0.25047534704208374, 0.9021061658859253, -2.3035976886749268, -2.1658811569213867, -1.7986007928848267], "max": [0.4849071502685547, 0.32028526067733765, 1.0518032312393188, 0.8552170991897583, 1.9731966257095337, -0.39751148223876953, 0.5071678161621094, 0.059611402451992035, 1.0518001317977905, 2.2898571491241455, 2.4593613147735596, 1.8044612407684326], "mean": [0.3917226791381836, 0.22535832226276398, 0.9888396859169006, -0.269808292388916, 1.6214104890823364, -0.9071643352508545, 0.39251676201820374, -0.12148014456033707, 0.9410436749458313, -0.31769174337387085, 1.4627575874328613, 0.7103694081306458], "std": [0.034463267773389816, 0.04921853542327881, 0.018195075914263725, 0.384080708026886, 0.1816505342721939, 0.17387321591377258, 0.04588770121335983, 0.07537347823381424, 0.028637126088142395, 0.9078779220581055, 1.2029632329940796, 0.9599434733390808], "count": [2206]}, "subtask_index": {"min": [64], "max": [450], "mean": [426.8721668177697], "std": [14.916235610506035], "count": [2206]}, "observation.tactile": {"min": [-7.709206581115723, -0.02423952892422676, -7.713669037912041e-05, -0.18776048719882965, -0.039131615310907364, -0.12960800528526306, -3.549436092376709, -2.2887677914695814e-05, -4.671536589739844e-05, -0.3174097537994385, -0.019001975655555725, -0.09228913486003876, -0.08948016166687012, -3.4964261431014165e-05, -7.861834455979988e-05, -0.001987727824598551, -0.00032976962393149734, -0.0008436180651187897, -0.012831087224185467, -3.4038519515888765e-05, -0.26490238308906555, -0.001060594106093049, -0.0001333249529125169, -0.0002217499422840774, -0.0014644726179540157, -4.967327549820766e-05, -0.0001109735167119652, -0.0004709600761998445, -1.951679223566316e-06, -4.858189640799537e-05, -1.8660318851470947, -0.23528479039669037, -9.008614142658189e-05, -0.19327661395072937, -0.02097446843981743, -0.0398947075009346, -5.813567161560059, 0.0, 0.0, -0.36031681299209595, -0.038238998502492905, -0.0929410383105278, -0.0062761371955275536, -5.1372066081967205e-05, -0.00011390486179152504, -0.0011017974466085434, -3.66542735719122e-05, -0.00015307932335417718, -0.014558848924934864, -3.9928359910845757e-05, -8.594022801844403e-05, -0.0016508519183844328, -6.0418191424105316e-05, -0.00032313159317709506, -0.009487352333962917, -4.270654608262703e-05, -9.509870142210275e-05, -0.001110460259951651, -0.00010332799138268456, -0.0001924219832289964], "max": [0.00026842067018151283, 5.9132866859436035, 9.901315689086914, 1.463179501115519e-06, 0.0007160575478337705, 5.734555088565685e-06, 6.1074981689453125, 12.536640167236328, 15.155064582824707, 8.296732971757592e-07, 0.02719651162624359, 0.12264979630708694, 0.041456956416368484, 0.049653202295303345, 0.15878553688526154, 1.4552898619513144e-06, 0.00017245672643184662, 0.0005638375296257436, 2.7208433151245117, 0.5921527743339539, 0.055254701524972916, 0.004837284330278635, 0.002266933908686042, 0.04738425090909004, 0.0014834775356575847, 0.007515575271099806, 0.020664289593696594, 2.123800186382141e-06, 6.059179577277973e-05, 1.6930867786868475e-05, 6.919908046722412, 7.622682571411133, 9.449756622314453, 1.6652643353154417e-06, 0.0264800563454628, 0.14484398066997528, 9.164413452148438, 14.38318157196045, 19.807973861694336, 0.0, 0.02220960706472397, 0.16013753414154053, 0.010722629725933075, 0.018967414274811745, 0.05322055518627167, 2.077300678138272e-06, 0.00028582027880474925, 9.004678577184677e-05, 0.03189270198345184, 0.03142029419541359, 0.09448906779289246, 1.5800421806488885e-06, 0.00037496056756936014, 0.00040621915832161903, 0.0012769303284585476, 0.017342619597911835, 0.05072719603776932, 1.779939793777885e-06, 0.00017388579726684839, 7.1165472945722286e-06], "mean": [-0.44983741641044617, 0.38427942991256714, 0.8036145567893982, -0.014857293106615543, -0.002551454119384289, -0.007043120916932821, 0.2633515000343323, 0.8145295977592468, 1.097393274307251, -0.022941896691918373, -0.00013990612933412194, 0.005614851135760546, -0.002172162290662527, 0.0028865200001746416, 0.008426805958151817, -0.000173390973941423, -9.116206456383225e-06, -4.171873661107384e-05, 0.001554165268316865, 0.004006945062428713, 0.009953267872333527, -0.00017332291463389993, -1.2542348315491836e-07, 2.944620791822672e-05, 0.00027568184304982424, 0.0001700550492387265, 0.0005273611750453711, -1.164506102213636e-05, 5.262035784880936e-08, 5.366159712139051e-06, 0.790701150894165, 1.2618540525436401, 1.793228030204773, -0.038420360535383224, 0.0008734376169741154, 0.016881270334124565, -0.09159299731254578, 2.5754337310791016, 5.044613361358643, -0.09677482396364212, -0.0038881064392626286, -0.00038460950599983335, -0.00022548528795596212, 0.003435628255829215, 0.009948192164301872, -0.00021919567370787263, 2.1500034563359804e-05, -1.3101581316732336e-05, -0.00031043405761010945, 0.005235548131167889, 0.015433701686561108, -0.00025705908774398267, 2.4178068997571245e-05, -1.7764616131898947e-05, -0.0009703027899377048, 0.0024642623029649258, 0.007119134534150362, -0.00013788146316073835, -1.464890260649554e-06, -1.7805577954277396e-05], "std": [1.3222779035568237, 1.148982286453247, 2.179048538208008, 0.040626995265483856, 0.007279313635081053, 0.02150479331612587, 1.1050995588302612, 2.7007055282592773, 3.4472529888153076, 0.07182145118713379, 0.0035431510768830776, 0.02299092523753643, 0.0037697465158998966, 0.004032742697745562, 0.012024221941828728, 0.0002460475079715252, 2.3996679374249652e-05, 6.491282692877576e-05, 0.08162834495306015, 0.015903281047940254, 0.013044976629316807, 0.0002347714180359617, 6.769932224415243e-05, 0.0014362415531650186, 0.0001689303171588108, 0.00063963612774387, 0.0018538826843723655, 4.066640030941926e-05, 5.687842076440575e-06, 4.6616596591775306e-06, 1.5512295961380005, 1.8393887281417847, 2.636096954345703, 0.05546935647726059, 0.008473318070173264, 0.03180604428052902, 2.1814303398132324, 3.362119197845459, 6.30757999420166, 0.1190553531050682, 0.01138799637556076, 0.037075068801641464, 0.0008875116473063827, 0.0035081685055047274, 0.010058547370135784, 0.00022386798809748143, 2.471936932124663e-05, 2.1357540390454233e-05, 0.0033269573468714952, 0.005187323782593012, 0.015309181995689869, 0.00028758286498486996, 4.809675374417566e-05, 6.118293094914407e-05, 0.0017128561157733202, 0.003211929462850094, 0.009259908460080624, 0.00018606118101160973, 2.4464117814204656e-05, 3.113935235887766e-05], "count": [2206]}, "timestamp": {"min": [0.0], "max": [73.5], "mean": [36.75], "std": [21.22724271622043], "count": [2206]}, "frame_index": {"min": [0], "max": [2205], "mean": [1102.5], "std": [636.817281486613], "count": [2206]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2206]}, "index": {"min": [22209], "max": [24414], "mean": [23311.5], "std": [636.817281486613], "count": [2206]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2206]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5438327193260193]], [[0.5435488820075989]], [[0.5454608798027039]]], "std": [[[0.3016242980957031]], [[0.3018261194229126]], [[0.3028176724910736]]], "count": [2206]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.23092621564865112]], [[0.23179076611995697]], [[0.23210777342319489]]], "std": [[[0.14917558431625366]], [[0.15046066045761108]], [[0.15260082483291626]]], "count": [2206]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.20778682827949524]], [[0.2081804722547531]], [[0.20761039853096008]]], "std": [[[0.13746090233325958]], [[0.13799408078193665]], [[0.14015163481235504]]], "count": [2206]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5424060225486755]], [[0.5420542359352112]], [[0.5437650084495544]]], "std": [[[0.30068400502204895]], [[0.3010241687297821]], [[0.30229294300079346]]], "count": [2206]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5921568870544434]], [[0.5921568870544434]], [[0.5921568870544434]]], "mean": [[[0.0023733587004244328]], [[0.0023733587004244328]], [[0.0023733587004244328]]], "std": [[[0.029407355934381485]], [[0.029407355934381485]], [[0.029407355934381485]]], "count": [2206]}, "observation.images.tactile_raw": {"min": [[[0.019607843831181526]], [[0.019607843831181526]], [[0.019607843831181526]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.468490868806839]], [[0.468490868806839]], [[0.468490868806839]]], "std": [[[0.23545359075069427]], [[0.23545359075069427]], [[0.23545359075069427]]], "count": [2206]}}}
+{"episode_index": 15, "stats": {"observation.state": {"min": [1.0499999523162842, -0.779999852180481, -0.17464658617973328, 0.967095673084259, -0.16733549535274506, -0.7699999809265137, 0.3329886496067047, 0.006200654432177544, -0.02989482879638672, -0.27699726819992065, -0.3132162094116211, 0.0030800877138972282, -0.021655356511473656, -0.0018506502965465188, 0.003412313060835004, 0.0008651180542074144, -0.1744927167892456, -0.0008495223009958863, 0.0035846305545419455, 0.0008500416879542172, -0.14845187962055206, -0.035980235785245895, 0.0029361352790147066, 0.0008358521736226976, 0.005354952998459339, -0.14362090826034546, -0.038291338831186295, 0.003517972771078348, 0.0008411731687374413, 0.9724598526954651, -0.8571025133132935, -0.227137491106987, 0.952899158000946, -1.8054460287094116, -0.769490659236908, -0.5392709374427795, 0.0073409066535532475, -0.3145642876625061, 0.0032674057874828577, -0.24747395515441895, 0.003446351271122694, 0.0051297652535140514, -0.11591635644435883, 0.0031293719075620174, 0.0007595834322273731, 0.003714056918397546, -0.03227157145738602, 0.0026549668982625008, 0.0008402863750234246, -0.0006032275850884616, -0.030319852754473686, 0.003621859708800912, 0.0008717693854123354, 0.005865509156137705, -0.06985027343034744, -0.03796139359474182, 0.003493508091196418, 0.0008828549762256444, 0.5622039437294006, -1.1070547103881836, 0.5441796779632568, -0.03480219095945358, -0.011504855938255787, -9.58738019107841e-05, -0.8729309439659119], "max": [1.256969928741455, -0.553954541683197, -3.5952675148109847e-07, 1.5699999332427979, -3.5952675148109847e-07, 0.06873240321874619, 0.6981717348098755, 1.0898102521896362, 0.02507205680012703, 0.0003259639779571444, -0.0038371325936168432, 0.4796125888824463, 0.753989577293396, 0.07467115670442581, 0.21332097053527832, 0.2951608896255493, 0.5206913948059082, 0.12469983845949173, 0.003636396722868085, 0.026908675208687782, 0.10650119930505753, 0.09313377737998962, 0.17024974524974823, 0.3414005935192108, 0.006058171857148409, 0.041383277624845505, 0.0013455483131110668, 0.0471692718565464, 0.04078337550163269, 1.3469878435134888, -0.263975590467453, -0.00033040507696568966, 1.5695171356201172, 0.24230772256851196, 0.06066162884235382, 0.5197780132293701, 1.5081135034561157, 0.00038935910561122, 0.8225642442703247, 0.31470340490341187, 0.5114597678184509, 1.1255412101745605, 0.2643802762031555, 0.6307262182235718, 1.1420791149139404, 1.468856692314148, 0.2651640474796295, 1.6556810140609741, 1.3082674741744995, 1.468624472618103, 0.21664506196975708, 1.6548467874526978, 1.3081893920898438, 0.06945277005434036, 1.4686057567596436, 0.31456783413887024, 1.655300259590149, 1.3082166910171509, 0.5637379288673401, -1.1060960292816162, 0.6487780213356018, 0.0, 0.021283984184265137, 0.12847089767456055, -0.5998823642730713], "mean": [1.1345186233520508, -0.6726099252700806, -0.15867960453033447, 1.0391509532928467, -0.1646178960800171, -0.07585959881544113, 0.4427499771118164, 1.05010986328125, 0.002980488119646907, -0.2549804747104645, -0.2938220500946045, 0.47274917364120483, 0.599581241607666, 0.05788099020719528, 0.13046567142009735, 0.28749924898147583, 0.3146013915538788, 0.09419479966163635, 0.0036076963879168034, 0.024269651621580124, 0.03924846649169922, 0.05082838609814644, 0.11156909167766571, 0.33290213346481323, 0.005730561912059784, -0.009474990889430046, -0.023572538048028946, 0.014727127738296986, 0.011653187684714794, 1.1020010709762573, -0.6196661591529846, -0.21899622678756714, 1.2610112428665161, -1.2415028810501099, -0.3263701796531677, 0.08076269179582596, 1.301953911781311, -0.22245126962661743, 0.5889848470687866, 0.000887078233063221, 0.06133750453591347, 0.9201648831367493, 0.18986886739730835, 0.09873699396848679, 0.6343435049057007, 1.4107712507247925, 0.17445455491542816, 1.5820807218551636, 1.2291125059127808, 1.4085841178894043, 0.1328210085630417, 1.587304711341858, 1.2124581336975098, 0.06604280322790146, 1.4055755138397217, 0.24719884991645813, 1.597701072692871, 1.262326955795288, 0.5626944303512573, -1.1068631410598755, 0.6313801407814026, -0.022863753139972687, 0.00558331236243248, 0.09615574032068253, -0.8656430840492249], "std": [0.02268439158797264, 0.017171870917081833, 0.017157642170786858, 0.05505157634615898, 0.01608538255095482, 0.12858089804649353, 0.09710852801799774, 0.11583884060382843, 0.006164411082863808, 0.032171398401260376, 0.03421992063522339, 0.05186539888381958, 0.2095860093832016, 0.012772253714501858, 0.07258334010839462, 0.03219348564743996, 0.2034582793712616, 0.024150175973773003, 7.63024581829086e-06, 0.005361843388527632, 0.04690881446003914, 0.030446022748947144, 0.04919029772281647, 0.03714006021618843, 8.05618692538701e-05, 0.042295027524232864, 0.011895081959664822, 0.01665038801729679, 0.015199363231658936, 0.050289586186409, 0.12348921597003937, 0.022921910509467125, 0.1148749440908432, 0.2866504490375519, 0.12834522128105164, 0.18711644411087036, 0.14970292150974274, 0.047749489545822144, 0.15005819499492645, 0.11280471086502075, 0.10955736041069031, 0.17300990223884583, 0.05894976109266281, 0.09916279464960098, 0.26190271973609924, 0.2654745876789093, 0.04944179579615593, 0.3236568868160248, 0.25934240221977234, 0.2766181528568268, 0.04170038923621178, 0.3199956715106964, 0.25356560945510864, 0.012354821898043156, 0.2909619212150574, 0.06124630570411682, 0.284320205450058, 0.22396589815616608, 8.414306648774073e-05, 5.664120180881582e-05, 0.01103152520954609, 0.008982698433101177, 0.007174465339630842, 0.02637752890586853, 0.03775731474161148], "count": [2547]}, "observation.state.joint_torque": {"min": [-41.505001068115234, -5.008500099182129, -18.673999786376953, -5.513999938964844, -0.5888000130653381, -0.527999997138977, 0.6439999938011169, -0.9105721712112427, -0.5030434131622314, -0.4846489131450653, -0.27587708830833435, -0.1145576685667038, -0.39625871181488037, -0.4432724714279175, -0.07471152395009995, -0.0321076326072216, -0.4432724416255951, -0.2273930311203003, -0.0016602561809122562, -0.032821137458086014, -0.364596426486969, -0.5612865686416626, -0.20089100301265717, -0.046377696096897125, -0.002638806588947773, -0.5795164108276367, -0.4116101562976837, -0.08301279693841934, -0.039956167340278625, 5.672999858856201, -5.350500106811523, -4.679999828338623, -8.427000045776367, -2.7248001098632812, -3.683199882507324, -3.067199945449829, -1.389418601989746, -0.9156662821769714, -0.7940786480903625, -2.7699549198150635, -0.09961536526679993, -0.5161917805671692, -1.1129785776138306, -0.25235894322395325, -0.21333740651607513, -1.0458160638809204, -0.37515053153038025, -0.14776279032230377, -0.044950686395168304, -0.970977783203125, -0.7464631795883179, -0.0531281977891922, -0.05850724130868912, -0.13985675573349, -0.41832640767097473, -0.5468946099281311, -0.6275768280029297, -0.11344698071479797, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-11.55150032043457, 13.652999877929688, -3.130000114440918, 3.249000072479248, 1.8672000169754028, 1.2223999500274658, 2.9760000705718994, 0.9309486150741577, 0.3858788311481476, 0.41505834460258484, 0.5505114793777466, 0.11289741843938828, 0.31854212284088135, 0.24658231437206268, 0.15274357795715332, 0.01783757284283638, 0.40105605125427246, 0.2369876652956009, 0.0016602561809122562, 0.01712406985461712, 0.4384751319885254, 0.3713126480579376, 0.11953844130039215, 0.021405089646577835, 0.0013194032944738865, 0.3242989182472229, 0.20724427700042725, 0.07305127382278442, 0.021405089646577835, 47.25600051879883, 14.736000061035156, 17.35300064086914, 7.945000171661377, 0.635200023651123, 2.574399948120117, 5.761600017547607, 4.616537570953369, 3.680494546890259, 1.931139588356018, 1.8690052032470703, 0.614294707775116, 2.1444027423858643, 1.6512378454208374, 1.0575830936431885, 0.21476440131664276, 0.671625018119812, 0.5123538970947266, 0.18096791207790375, 0.09989041090011597, 0.8040310144424438, 0.2887987494468689, 0.6026729345321655, 0.15697064995765686, 0.11962589621543884, 0.871193528175354, 0.4595833718776703, 0.10791664570569992, 0.15054912865161896, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.721696853637695, 4.097596645355225, -11.673315048217773, -1.8921247720718384, 0.030255528166890144, 0.21268412470817566, 2.0443129539489746, 0.007535714190453291, -0.0021305461414158344, 0.008818377740681171, -0.00576697988435626, 1.368815173918847e-05, 0.031408198177814484, 0.007358512841165066, 0.00572584243491292, 0.0005118062836118042, 0.04563548415899277, -0.018802842125296593, 1.955542984433123e-06, 0.00031935310107655823, 0.04204123839735985, 0.05207379534840584, 0.005626758094877005, 0.000676806375849992, -5.767318725702353e-05, 0.02288925088942051, -0.00013184885028749704, 0.001224171370267868, -0.004984710365533829, 24.016464233398438, 2.962690591812134, 10.499310493469238, -3.531064033508301, -0.4394533038139343, 1.1900713443756104, -0.7637410163879395, 0.07096751779317856, 0.4730180501937866, 0.22764679789543152, 0.13220812380313873, 0.03184404596686363, 0.5140093564987183, -0.04198549687862396, 0.2137928307056427, 0.049581341445446014, 0.006181296892464161, -0.008953895419836044, -0.000149273662827909, 0.002193455584347248, 0.009230728261172771, -0.009363334625959396, 0.00032787997042760253, 0.0022710461635142565, 0.0005297671887092292, 0.01980138197541237, -0.012833931483328342, 0.0003748136223293841, 0.0013065522070974112, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.1064680814743042, 0.8633226752281189, 0.6058921813964844, 0.6094140410423279, 0.2536627948284149, 0.29803693294525146, 0.22437290847301483, 0.10626742243766785, 0.049768075346946716, 0.04766812175512314, 0.04636818543076515, 0.008296957239508629, 0.053746096789836884, 0.03424203395843506, 0.01513652689754963, 0.003975372761487961, 0.06166195124387741, 0.03984652832150459, 0.000143382276291959, 0.005406995769590139, 0.08084264397621155, 0.09174957871437073, 0.01978888362646103, 0.005322276148945093, 0.0003260922967456281, 0.05743108689785004, 0.043559156358242035, 0.009243374690413475, 0.010120678693056107, 3.4873812198638916, 2.6871869564056396, 2.447653293609619, 1.756170392036438, 0.41885045170783997, 0.9135403037071228, 0.9357966184616089, 0.6023231744766235, 0.790960967540741, 0.4350247085094452, 0.43224552273750305, 0.10030458122491837, 0.810357928276062, 0.2618224620819092, 0.3468288481235504, 0.0861688107252121, 0.05051007494330406, 0.0784243643283844, 0.01171740610152483, 0.008119136095046997, 0.051030680537223816, 0.06588996201753616, 0.013394736684858799, 0.010191787965595722, 0.012018815614283085, 0.05980829522013664, 0.10503959655761719, 0.019124692305922508, 0.005447947885841131, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2547]}, "observation.state.tcp": {"min": [0.36176595091819763, 0.19242805242538452, 0.9261013865470886, -1.2088550329208374, 1.1870454549789429, -1.455014944076538, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3219151198863983, -0.2373601198196411, 0.8893635272979736, -0.5206989645957947, 1.218295931816101, -0.21432435512542725, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.48227453231811523, 0.27800384163856506, 1.0518137216567993, -0.7450914978981018, 1.7999314069747925, -1.2026441097259521, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5088772773742676, 0.009016389027237892, 1.0518156290054321, 1.3843693733215332, 2.277238368988037, 1.3450415134429932, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4412069320678711, 0.26427221298217773, 0.9517554640769958, -1.0531681776046753, 1.6479971408843994, -1.3463971614837646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3812791109085083, -0.15741963684558868, 0.9365352988243103, -0.09954553842544556, 1.9586180448532104, 0.7987866401672363, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.010978376492857933, 0.01152773667126894, 0.02330092526972294, 0.08850918710231781, 0.13916327059268951, 0.022252006456255913, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.02918819710612297, 0.058052655309438705, 0.0244130939245224, 0.3039284944534302, 0.148877814412117, 0.2621549069881439, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2547]}, "action": {"min": [1.0502488613128662, -0.7797595262527466, -0.17462241649627686, 0.9668636918067932, -0.16730234026908875, -0.7697071433067322, 0.3329211175441742, 0.0, -0.04131085425615311, -0.27449676394462585, -0.3164687752723694, 0.0, -0.032525911927223206, 0.0, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.17220379412174225, -0.0548291876912117, 0.0, 0.0, 0.0, -0.15185041725635529, -0.1782187819480896, 0.0, 0.0, 0.9724628329277039, -0.8572590947151184, -0.2271285057067871, 0.9527220726013184, -1.805427074432373, -0.768962562084198, -0.5396780371665955, 0.0, -0.3154056966304779, 0.0, -0.25204139947891235, -0.1745329201221466, 0.0, -0.12088615447282791, 0.0, 0.0, 0.0, -0.04150272160768509, 0.0, 0.0, 0.0, -0.05828053504228592, 0.0, 0.0, 0.0, -0.07109999656677246, -0.08876854926347733, 0.0, 0.0, 0.5626834034919739, -1.1069231033325195, 0.5442397594451904, -0.0357491709291935, -0.012665611691772938, 0.0, -0.8726646304130554], "max": [1.2569918632507324, -0.5535838007926941, -0.00021000744891352952, 1.5693714618682861, -0.000201199043658562, 0.06874831765890121, 0.755650520324707, 1.0935364961624146, 0.025896482169628143, 0.0, 0.0, 0.4822549521923065, 0.7640483975410461, 0.07536738365888596, 0.21842928230762482, 0.29775527119636536, 0.5276208519935608, 0.12618058919906616, 0.010361389257013798, 0.031158994883298874, 0.11445381492376328, 0.09971945732831955, 0.17668800055980682, 0.3463345766067505, 0.012310194782912731, 0.04502658545970917, 0.0, 0.0531524196267128, 0.04555921629071236, 1.3472543954849243, -0.2639445960521698, -0.0005649485974572599, 1.5688884258270264, 0.24227678775787354, 0.06068328768014908, 0.5195965766906738, 1.5157403945922852, 0.0, 0.8240799903869629, 0.3490658402442932, 0.514704167842865, 1.1429115533828735, 0.27957862615585327, 0.6344738006591797, 1.1412813663482666, 1.5707963705062866, 0.2710459232330322, 1.7453292608261108, 1.3962633609771729, 1.5707963705062866, 0.22358840703964233, 1.7453292608261108, 1.3962633609771729, 0.08128181099891663, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5627791881561279, -1.106863021850586, 0.6492788195610046, 0.0, 0.022034212946891785, 0.12894101440906525, -0.5999326705932617], "mean": [1.1345144510269165, -0.6725547313690186, -0.1586930900812149, 1.0390211343765259, -0.16462920606136322, -0.07590138167142868, 0.4430072009563446, 1.0559735298156738, 0.004021296743303537, -0.25346839427948, -0.2989201247692108, 0.4754415452480316, 0.6051631569862366, 0.05903579294681549, 0.1342504769563675, 0.2903745770454407, 0.32174524664878845, 0.09532559663057327, 0.00010733905219240114, 0.027520211413502693, 0.04268927872180939, 0.05574246495962143, 0.11434362828731537, 0.3355134129524231, 0.004660098347812891, -0.0053361873142421246, -0.05081956833600998, 0.014375106431543827, 0.01202980987727642, 1.1020859479904175, -0.6196826100349426, -0.21900959312915802, 1.2608908414840698, -1.2419501543045044, -0.32657817006111145, 0.08090952783823013, 1.3026551008224487, -0.2216177135705948, 0.5890143513679504, 0.0021697075571864843, 0.003117987420409918, 0.9329879283905029, 0.19029167294502258, 0.09996931999921799, 0.6477305293083191, 1.5105373859405518, 0.17396892607212067, 1.6509634256362915, 1.2484766244888306, 1.5061345100402832, 0.13204388320446014, 1.6758818626403809, 1.2311651706695557, 0.07237785309553146, 1.5066261291503906, 0.24655871093273163, 1.6842137575149536, 1.3473440408706665, 0.5627771615982056, -1.1068660020828247, 0.6314252614974976, -0.022909890860319138, 0.005616408307105303, 0.09619848430156708, -0.8656148314476013], "std": [0.022535301744937897, 0.017252542078495026, 0.017106227576732635, 0.05491822585463524, 0.016037004068493843, 0.1286061406135559, 0.0978132039308548, 0.12447293847799301, 0.008324172347784042, 0.035352323204278946, 0.03718015179038048, 0.05692753568291664, 0.21216581761837006, 0.013318617828190327, 0.07428102940320969, 0.03485065698623657, 0.2063920497894287, 0.02453162893652916, 0.0010370002128183842, 0.006104758474975824, 0.0511598214507103, 0.02973206155002117, 0.049291275441646576, 0.040311940014362335, 0.005733322352170944, 0.04383372142910957, 0.04394972324371338, 0.019412444904446602, 0.016775542870163918, 0.05023355782032013, 0.12338782101869583, 0.02287238836288452, 0.11493575572967529, 0.28528958559036255, 0.12827761471271515, 0.18705739080905914, 0.15878769755363464, 0.0504591204226017, 0.15288612246513367, 0.11663050204515457, 0.1514863520860672, 0.1802569329738617, 0.060092002153396606, 0.09949605911970139, 0.26753491163253784, 0.28746381402015686, 0.049849264323711395, 0.3394690155982971, 0.26417458057403564, 0.297770619392395, 0.04364386573433876, 0.33915868401527405, 0.2613956034183502, 0.014932576566934586, 0.31153300404548645, 0.0659254714846611, 0.30306532979011536, 0.2424541860818863, 8.733571121410932e-06, 5.445634542411426e-06, 0.011238189414143562, 0.008997838944196701, 0.007234047167003155, 0.02640807256102562, 0.0380643755197525], "count": [2547]}, "observation.state.tcp_pose": {"min": [0.36176595091819763, 0.19242805242538452, 0.9261013865470886, -1.2088550329208374, 1.1870454549789429, -1.455014944076538, 0.3219151198863983, -0.2373601198196411, 0.8893635272979736, -0.5206989645957947, 1.218295931816101, -0.21432435512542725], "max": [0.48227453231811523, 0.27800384163856506, 1.0518137216567993, -0.7450914978981018, 1.7999314069747925, -1.2026441097259521, 0.5088772773742676, 0.009016389027237892, 1.0518156290054321, 1.3843693733215332, 2.277238368988037, 1.3450415134429932], "mean": [0.4412069320678711, 0.26427221298217773, 0.9517554640769958, -1.0531681776046753, 1.6479971408843994, -1.3463971614837646, 0.3812791109085083, -0.15741963684558868, 0.9365352988243103, -0.09954553842544556, 1.9586180448532104, 0.7987866401672363], "std": [0.010978376492857933, 0.01152773667126894, 0.02330092526972294, 0.08850918710231781, 0.13916327059268951, 0.022252006456255913, 0.02918819710612297, 0.058052655309438705, 0.0244130939245224, 0.3039284944534302, 0.148877814412117, 0.2621549069881439], "count": [2547]}, "action.tcp_pose": {"min": [0.36203843355178833, 0.19248174130916595, 0.9256888628005981, -1.2087148427963257, 1.1509764194488525, -1.4579238891601562, 0.32204970717430115, -0.23678532242774963, 0.8891966342926025, -0.5220776200294495, 1.2190251350402832, -0.2144158035516739], "max": [0.4786514639854431, 0.27811118960380554, 1.0515316724777222, -0.7027848362922668, 1.7996759414672852, -1.2043566703796387, 0.5088518857955933, 0.009053894318640232, 1.0516374111175537, 1.3837143182754517, 2.27817440032959, 1.3443626165390015], "mean": [0.4412848651409149, 0.2643042504787445, 0.9516664743423462, -1.0531392097473145, 1.6478618383407593, -1.3463653326034546, 0.38140442967414856, -0.1574276238679886, 0.9365213513374329, -0.10006796568632126, 1.9584397077560425, 0.7988019585609436], "std": [0.010960591025650501, 0.011501383036375046, 0.023235511034727097, 0.08901689201593399, 0.13952860236167908, 0.02185348980128765, 0.029193580150604248, 0.05802871286869049, 0.024445513263344765, 0.3026581108570099, 0.1485128402709961, 0.2621738910675049], "count": [2547]}, "subtask_index": {"min": [64], "max": [495], "mean": [472.19159795838243], "std": [30.535982239089208], "count": [2547]}, "observation.tactile": {"min": [-0.026064608246088028, -3.070273305638693e-05, -7.006913801888004e-05, -0.001392042264342308, -0.000291848205961287, -0.0004435721493791789, -0.005932799074798822, -2.65327726083342e-05, -5.364139724406414e-05, -0.0013399261515587568, -2.822233182087075e-05, -0.0001185761793749407, -0.011384873650968075, -3.6212561099091545e-05, -8.086054003797472e-05, -0.0016081189969554543, -2.226935794169549e-05, -0.00023424169921781868, -0.006213394459336996, -3.485933848423883e-05, -7.761255255900323e-05, -0.0011747655225917697, -9.302040416514501e-05, -0.00013429393584374338, -0.0018883147276937962, -5.406024502008222e-05, -0.00012306059943512082, -0.0008003282127901912, -5.579710432357388e-06, -4.952876770403236e-05, -9.711475372314453, -3.7241439713397995e-05, -0.1373938024044037, -0.16794529557228088, -0.01762729324400425, -0.15467089414596558, -10.05344009399414, 0.0, 0.0, -0.34642964601516724, -0.03647194802761078, -0.12997649610042572, -0.006173128727823496, -4.450751657714136e-05, -9.912211680784822e-05, -0.002176928101107478, -4.548978904495016e-05, -0.00010105444380315021, -0.014516949653625488, -4.294792597647756e-05, -9.395484812557697e-05, -0.0021221551578491926, -7.8825862146914e-05, -0.00030904795858077705, -0.006721272598952055, -3.824087616521865e-05, -8.519522816641256e-05, -0.0013993986649438739, -5.907483136979863e-05, -0.00014464942796621472], "max": [0.00910093542188406, 0.024695100262761116, 0.07237270474433899, 1.357398559775902e-06, 0.00020954186038579792, 0.00010840033792192116, 0.01391291618347168, 0.02153715491294861, 0.06276261806488037, 9.77689978753915e-07, 0.0003629871644079685, 0.00019180930394213647, 0.004848646931350231, 0.023186802864074707, 0.06823935359716415, 1.5390022554129246e-06, 0.00013171628233976662, 7.168612501118332e-05, 0.012830275110900402, 0.020518021658062935, 0.056682467460632324, 1.394905893903342e-06, 8.779201016295701e-05, 0.00017453990585636348, 0.0016191040631383657, 0.013464119285345078, 0.037629056721925735, 2.3773031898599584e-06, 8.475019421894103e-05, 1.73204443854047e-05, 5.468428611755371, 9.425288200378418, 7.790144920349121, 1.5298760445148218e-06, 0.024049721658229828, 0.1237398311495781, 3.7463977336883545, 19.665510177612305, 21.60517120361328, 0.0, 0.015616907738149166, 0.07606281340122223, 0.08918024599552155, 0.04152359813451767, 0.12493568658828735, 1.8002679098572116e-06, 0.0006288273725658655, 0.001351194572634995, 0.04769832268357277, 0.035261120647192, 0.09845482558012009, 1.7464836901126546e-06, 0.0004867152019869536, 0.0006939517916180193, 0.0008461535326205194, 0.022454164922237396, 0.06298675388097763, 1.5729182223367388e-06, 6.619399937335402e-05, 6.733296231686836e-06], "mean": [-0.0009601381025277078, 0.0015101999742910266, 0.004465932957828045, -7.40800824132748e-05, -1.6150563169503585e-05, -1.012012580758892e-05, -2.565660179243423e-05, 0.0024997193831950426, 0.0074937548488378525, -0.0001237084507010877, 2.2016010916559026e-05, -6.4478676904400345e-06, -0.0008299030596390367, 0.002575037768110633, 0.007411113008856773, -0.00013757575652562082, 1.821338082663715e-05, -2.076685086649377e-05, -0.0005542870494537055, 0.002339970786124468, 0.006788160186260939, -0.00013884302461519837, 4.117549906368367e-06, -1.2464119208743796e-05, -1.1089417967014015e-05, 0.0019404006889089942, 0.0056274631060659885, -0.00011844279651995748, 6.9305524448282085e-06, -2.851523959179758e-06, 0.5686194896697998, 1.3111881017684937, 1.4996837377548218, -0.033028267323970795, 0.001428040093742311, 0.012822544202208519, -0.3831760883331299, 2.159663677215576, 3.375819444656372, -0.07068917900323868, -0.0024786244612187147, -0.00543605163693428, 0.0008563301526010036, 0.004153136163949966, 0.012276535853743553, -0.0002490159240551293, 3.465211921138689e-05, 1.4024816437085974e-06, -0.00043257090146653354, 0.007345595862716436, 0.021441606804728508, -0.0004365716013126075, 4.341223757364787e-05, -2.862356268451549e-05, -0.0016349776415154338, 0.006721677258610725, 0.01912544295191765, -0.0004240472335368395, -1.810064168239478e-05, -3.008279418281745e-05], "std": [0.0033065907191485167, 0.0037804138846695423, 0.0111752450466156, 0.00019158028590027243, 4.522365998127498e-05, 4.443067518877797e-05, 0.0010933988960459828, 0.0031952918507158756, 0.009670931845903397, 0.00016473382129333913, 4.376135257189162e-05, 1.5869074559304863e-05, 0.001413444522768259, 0.0036014465149492025, 0.010411778464913368, 0.00020490059978328645, 2.536390456953086e-05, 3.257752177887596e-05, 0.0009091594838537276, 0.003018532646819949, 0.008658278733491898, 0.00018651835853233933, 1.1685100616887212e-05, 1.914698259497527e-05, 0.0003957666631322354, 0.0023891860619187355, 0.006832433864474297, 0.00014485232532024384, 1.0774412658065557e-05, 1.0230393854726572e-05, 1.760579228401184, 2.0160422325134277, 2.0403010845184326, 0.046821657568216324, 0.006843538023531437, 0.03433467447757721, 1.5709501504898071, 3.3159358501434326, 5.1309051513671875, 0.10278630256652832, 0.006959185004234314, 0.02889382280409336, 0.003991466015577316, 0.004435105249285698, 0.013181991875171661, 0.00025579723296687007, 4.9562262574909255e-05, 5.4229021770879626e-05, 0.0054130954667925835, 0.006432470865547657, 0.018822532147169113, 0.0003936738066840917, 6.806067540310323e-05, 8.986273314803839e-05, 0.0007048970437608659, 0.002874905476346612, 0.008155553601682186, 0.00018145659123547375, 1.2766468898917083e-05, 1.42068001878215e-05], "count": [2547]}, "timestamp": {"min": [0.0], "max": [84.86666666666666], "mean": [42.43333333333333], "std": [24.508517038111616], "count": [2547]}, "frame_index": {"min": [0], "max": [2546], "mean": [1273.0], "std": [735.2555111433485], "count": [2547]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [2547]}, "index": {"min": [24415], "max": [26961], "mean": [25688.0], "std": [735.2555111433485], "count": [2547]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2547]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5451482534408569]], [[0.5447328090667725]], [[0.5468360781669617]]], "std": [[[0.3006831109523773]], [[0.30069348216056824]], [[0.30158233642578125]]], "count": [2547]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24723239243030548]], [[0.24790561199188232]], [[0.24730783700942993]]], "std": [[[0.15688872337341309]], [[0.15827739238739014]], [[0.1579856276512146]]], "count": [2547]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.1859220266342163]], [[0.18563827872276306]], [[0.18642911314964294]]], "std": [[[0.12289884686470032]], [[0.12276548892259598]], [[0.12614668905735016]]], "count": [2547]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5465194582939148]], [[0.5460672378540039]], [[0.5479096174240112]]], "std": [[[0.30032309889793396]], [[0.3004239797592163]], [[0.3016897141933441]]], "count": [2547]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6392157077789307]], [[0.6392157077789307]], [[0.6392157077789307]]], "mean": [[[0.0012112566037103534]], [[0.0012112566037103534]], [[0.0012112566037103534]]], "std": [[[0.020844591781497]], [[0.020844591781497]], [[0.020844591781497]]], "count": [2547]}, "observation.images.tactile_raw": {"min": [[[0.0235294122248888]], [[0.0235294122248888]], [[0.0235294122248888]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46822234988212585]], [[0.46822234988212585]], [[0.46822234988212585]]], "std": [[[0.2351778745651245]], [[0.2351778745651245]], [[0.2351778745651245]]], "count": [2547]}}}
+{"episode_index": 16, "stats": {"observation.state": {"min": [1.0499837398529053, -0.7800201177597046, -0.16151896119117737, 1.028076171875, -0.08011418581008911, -0.7700443267822266, 0.4783855676651001, 0.0062259491533041, -0.13286878168582916, -0.20998239517211914, 7.822373299859464e-05, 0.0030655506998300552, 0.003546997904777527, -0.0017095759976655245, 0.003468688577413559, 0.0008495982619933784, -0.17440195381641388, -0.0020316941663622856, 0.0035878217313438654, 0.0008464942802675068, -0.15712594985961914, -0.03397576883435249, 0.0030932065565139055, 0.0008136810502037406, 0.00563431391492486, -0.14345556497573853, -0.038249630481004715, 0.0035197455435991287, 0.0008739865152165294, 0.9970952868461609, -0.8490294814109802, -0.23195263743400574, 0.9417789578437805, -1.0978745222091675, -0.817383348941803, -0.10383576154708862, 0.007410828955471516, -0.27347251772880554, 0.0032174030784517527, -0.31477802991867065, 0.00344706024043262, 0.005113574210554361, -0.09841661155223846, 0.003124762559309602, 0.000777763721998781, 0.003669409779831767, -0.008885771036148071, 0.0026680855080485344, 0.0008433902985416353, -0.0021749555598944426, -0.02738932892680168, 0.0034637246280908585, 0.0008686654036864638, 0.005897619761526585, -0.0700889602303505, -0.038538120687007904, 0.0034662066027522087, 0.0008766470709815621, 0.5623956918716431, -1.1070547103881836, 0.5448508262634277, -0.02876213937997818, -0.05023787170648575, 9.58738019107841e-05, -0.8727391958236694], "max": [1.2274397611618042, -0.6196566820144653, 1.0066748473036569e-05, 1.5700125694274902, 3.763046697713435e-05, -0.1373882293701172, 0.6981720328330994, 1.113290786743164, -3.3786636777222157e-05, -0.0036553048994392157, 0.1327626258134842, 0.4796217679977417, 0.8669516444206238, 0.04188322648406029, 0.21308554708957672, 0.2951653301715851, 0.34350019693374634, 0.08637413382530212, 0.003638169728219509, 0.05464655160903931, 0.0004273373051546514, 0.08133833110332489, 0.1814103126525879, 0.3368931710720062, 0.005985388066619635, -0.006594781298190355, -0.0011713752755895257, 0.04169127717614174, 0.03614073991775513, 1.3323560953140259, -0.1872018426656723, -0.0011564777232706547, 1.575195074081421, 0.17427736520767212, -0.06461678445339203, 0.5231723785400391, 1.5409373044967651, 0.00016531909932382405, 0.7607621550559998, 0.3148215711116791, 0.5183166861534119, 1.0897374153137207, 0.2646700143814087, 0.851425290107727, 0.8884212970733643, 1.468764305114746, 0.28220847249031067, 1.6556543111801147, 1.30825674533844, 1.46871817111969, 0.2576799988746643, 1.65482759475708, 1.3082256317138672, 0.06976209580898285, 1.4668247699737549, 0.31521397829055786, 1.6546924114227295, 1.3081773519515991, 0.5634503364562988, -1.1060001850128174, 0.666994035243988, 0.0031638352666050196, -0.0001917476038215682, 0.1515764743089676, -0.5738046765327454], "mean": [1.1616324186325073, -0.7221527695655823, -0.14937472343444824, 1.0681310892105103, -0.0762408971786499, -0.260446697473526, 0.5625352263450623, 1.0729960203170776, -0.11805783957242966, -0.16939565539360046, 0.11756125837564468, 0.46477821469306946, 0.46274542808532715, 0.020424509420990944, 0.12155765295028687, 0.2826993465423584, 0.02663496695458889, 0.05395509675145149, 0.0036132601089775562, 0.05073380470275879, -0.06258762627840042, 0.03544238209724426, 0.1044357568025589, 0.32415860891342163, 0.005779345519840717, -0.07417101413011551, -0.03511439636349678, 0.03132064640522003, 0.02563481405377388, 1.068960189819336, -0.5560280680656433, -0.21956892311573029, 1.3067675828933716, -1.0039808750152588, -0.4783938229084015, 0.08893441408872604, 1.3442023992538452, -0.19244502484798431, 0.47673702239990234, -0.010312782600522041, 0.15268941223621368, 0.87799471616745, 0.20146594941616058, 0.08057674020528793, 0.5673166513442993, 1.3612803220748901, 0.20288358628749847, 1.5181344747543335, 1.1840343475341797, 1.3541359901428223, 0.1772235929965973, 1.522541880607605, 1.1925872564315796, 0.06325960904359818, 1.342759132385254, 0.28888314962387085, 1.5417546033859253, 1.2185152769088745, 0.5626826286315918, -1.1068497896194458, 0.6450864672660828, -0.023399824276566505, -0.031321991235017776, 0.1306096315383911, -0.8535540103912354], "std": [0.026311812922358513, 0.018622353672981262, 0.023940114304423332, 0.0804482102394104, 0.011889527551829815, 0.10719365626573563, 0.06450362503528595, 0.16982440650463104, 0.019488612189888954, 0.02962944097816944, 0.019939417019486427, 0.07661080360412598, 0.2742356061935425, 0.01267337892204523, 0.05720985680818558, 0.047047678381204605, 0.09569057822227478, 0.01427305955439806, 7.904660378699191e-06, 0.011741800233721733, 0.020708590745925903, 0.017443615943193436, 0.044095106422901154, 0.053994059562683105, 4.4760752643924206e-05, 0.026023762300610542, 0.005956344306468964, 0.013984392397105694, 0.01222443487495184, 0.057981226593256, 0.1791367083787918, 0.03155095875263214, 0.16174618899822235, 0.28016388416290283, 0.14789597690105438, 0.1413242220878601, 0.210616335272789, 0.052423227578401566, 0.17818737030029297, 0.10691823065280914, 0.11715076863765717, 0.21857516467571259, 0.07224302738904953, 0.09783442318439484, 0.24871504306793213, 0.3564767837524414, 0.059656623750925064, 0.44570228457450867, 0.35492807626724243, 0.3713667094707489, 0.057312704622745514, 0.43884211778640747, 0.3530741333961487, 0.017122576013207436, 0.3985106647014618, 0.08314351737499237, 0.3914593458175659, 0.3097197115421295, 8.124590385705233e-05, 7.791080861352384e-05, 0.018559325486421585, 0.007549578323960304, 0.007723073475062847, 0.02397555485367775, 0.06058599427342415], "count": [1352]}, "observation.state.joint_torque": {"min": [-41.5260009765625, -4.048500061035156, -18.058000564575195, -5.875, -0.31119999289512634, -0.741599977016449, 1.1455999612808228, -0.7450135946273804, -0.46356403827667236, -0.38771915435791016, -0.19013150036334991, -0.11953844130039215, -0.36363697052001953, -0.27632570266723633, -0.08301279693841934, -0.033534638583660126, -0.33677196502685547, -0.2532985508441925, -0.0016602561809122562, -0.0321076326072216, -0.38954249024391174, -0.6274896264076233, -0.0796922892332077, -0.046377696096897125, -0.001759204315021634, -0.30702856183052063, -0.32813677191734314, -0.10957689583301544, -0.03424813970923424, -6.039000034332275, -16.774499893188477, -13.890999794006348, -10.925000190734863, -1.968000054359436, -7.110400199890137, -2.9607999324798584, -0.9385898113250732, -0.7832193970680237, -0.6014617085456848, -0.88230961561203, -0.12617947161197662, -0.5766379833221436, -0.9585047960281372, -0.4001217484474182, -0.21405088901519775, -0.9700183272361755, -0.30894750356674194, -0.39514094591140747, -0.13556556403636932, -0.7598956227302551, -0.34444764256477356, -0.2307755947113037, -0.07206379622220993, -0.11610747873783112, -1.438236951828003, -0.4260021150112152, -0.469852477312088, -0.08776086568832397, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-15.91349983215332, 13.175999641418457, -5.565999984741211, 4.5329999923706055, 2.0504000186920166, 1.5288000106811523, 3.4976000785827637, 0.5055904388427734, 0.3171083629131317, 0.39268991351127625, 0.4498536288738251, 0.12783971428871155, 0.46534016728401184, 0.20724426209926605, 0.10791664570569992, 0.022118592634797096, 0.28496086597442627, 0.267690509557724, 0.0016602561809122562, 0.02354559674859047, 0.40393444895744324, 0.6198139190673828, 0.13780125975608826, 0.02497260272502899, 0.0030786076094955206, 0.2935960590839386, 0.20916320383548737, 0.07471152395009995, 0.020691584795713425, 42.81449890136719, 20.97450065612793, 18.382999420166016, 9.628999710083008, 0.5055999755859375, 2.387200117111206, 6.840000152587891, 2.5037550926208496, 2.8756251335144043, 2.231870651245117, 1.4899847507476807, 0.469852477312088, 2.1405646800994873, 2.138645648956299, 1.0575830936431885, 0.21476440131664276, 1.3470877408981323, 0.24946071207523346, 0.1411217600107193, 0.16053816676139832, 1.3374931812286377, 0.29935285449028015, 0.49807682633399963, 0.13057105243206024, 0.1262229084968567, 1.3710744380950928, 0.2657715678215027, 0.31378841400146484, 0.13699255883693695, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.639318466186523, 4.4679765701293945, -11.914497375488281, -1.5461665391921997, 0.3019159436225891, 0.24098049104213715, 2.1176741123199463, 0.012928357347846031, -0.008553916588425636, 0.027408145368099213, 0.014624559320509434, 0.0002959471894428134, 0.05612017214298248, 0.0010134062031283975, 0.008554264903068542, 0.0004781311727128923, 0.048912808299064636, -0.04954015836119652, 4.9120003495772835e-06, 0.0005673178238794208, 0.011644156649708748, 0.016757959499955177, 0.0055198632180690765, -0.0008612699457444251, -6.766162550775334e-05, 0.022619735449552536, -0.0017358295153826475, 0.0008424072293564677, -0.0008528261678293347, 22.701904296875, 1.494780421257019, 10.10291862487793, -4.660112380981445, -0.6128515005111694, 0.9519208073616028, -1.0575940608978271, 0.14311937987804413, 0.4102489650249481, 0.23127734661102295, 0.11756191402673721, 0.04804058372974396, 0.5251973867416382, -0.10683400183916092, 0.25365588068962097, 0.05102863535284996, 0.006766597740352154, -0.013160708360373974, -1.5965137208695523e-05, 0.0007040020427666605, 0.00032999657560139894, -0.016981501132249832, 9.57845986704342e-05, -0.0009684010874480009, 0.0013102898374199867, 0.0005244440981186926, -0.012652584351599216, 0.0010487140389159322, 0.0016396857099607587, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.217312216758728, 1.0000089406967163, 0.6936301589012146, 0.761033296585083, 0.2602273225784302, 0.30050718784332275, 0.22782722115516663, 0.08141042292118073, 0.05291063338518143, 0.06975547969341278, 0.06110496446490288, 0.012066321447491646, 0.06318996101617813, 0.04262269660830498, 0.017643943428993225, 0.004653359763324261, 0.06189299002289772, 0.050776634365320206, 0.0001688755874056369, 0.005908374208956957, 0.05642570182681084, 0.09975520521402359, 0.01676189713180065, 0.0076929908245801926, 0.00033788636210374534, 0.055458031594753265, 0.039560865610837936, 0.009394146502017975, 0.00833355076611042, 4.445498466491699, 3.0440139770507812, 2.7550129890441895, 1.3445807695388794, 0.20505249500274658, 1.0351203680038452, 0.963640034198761, 0.5512232184410095, 0.6774929165840149, 0.37473398447036743, 0.30902642011642456, 0.09765101224184036, 0.7122591137886047, 0.3671081066131592, 0.3495773375034332, 0.09607445448637009, 0.0724942535161972, 0.0732395350933075, 0.013545962050557137, 0.009720218367874622, 0.0687405914068222, 0.06872759759426117, 0.018136439844965935, 0.009047349914908409, 0.015997720882296562, 0.08205309510231018, 0.05116596445441246, 0.02300889976322651, 0.006596519146114588, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1352]}, "observation.state.tcp": {"min": [0.36175236105918884, 0.18965385854244232, 0.9418343901634216, -1.2102711200714111, 1.1921236515045166, -1.3393239974975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3068462014198303, -0.22637280821800232, 0.8970739841461182, -0.09272343665361404, 1.2192243337631226, 0.5743265151977539, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.47543713450431824, 0.29017096757888794, 1.0515975952148438, -0.8548237085342407, 1.553796410560608, -1.2289462089538574, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49840518832206726, 0.009108480997383595, 1.0510168075561523, 1.3030064105987549, 2.1347737312316895, 1.4515724182128906, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.46232911944389343, 0.2771455645561218, 0.970146119594574, -1.0632758140563965, 1.411881923675537, -1.276784062385559, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.35949957370758057, -0.13175877928733826, 0.930151104927063, 0.22539997100830078, 1.900413155555725, 0.9323177933692932, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.015349598601460457, 0.019072528928518295, 0.02264554239809513, 0.07088450342416763, 0.09181483834981918, 0.014391191303730011, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.035211190581321716, 0.06880393624305725, 0.03252144530415535, 0.27661067247390747, 0.1839228719472885, 0.1682388037443161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1352]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.16153544187545776, 1.0277732610702515, -0.0800558477640152, -0.7699999809265137, 0.4781491160392761, 0.0, -0.1388145089149475, -0.2298436015844345, 0.0, 0.0, -0.010666059330105782, 0.0, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.17331084609031677, -0.04063994437456131, 0.0, 0.0, 0.0, -0.15055616199970245, -0.1763971447944641, 0.0, 0.0, 0.9971027374267578, -0.8490473628044128, -0.23192226886749268, 0.9399035573005676, -1.0978676080703735, -0.818381667137146, -0.10387317836284637, 0.0, -0.27216657996177673, 0.0, -0.3304663300514221, -0.10262730717658997, 0.0, -0.09624666720628738, 0.0, 0.0, 0.0, -0.011398322880268097, 0.0, 0.0, 0.0, -0.03661305457353592, 0.0, 0.0, 0.0, -0.07248058915138245, -0.08186537772417068, 0.0, 0.0, 0.5626834034919739, -1.1069231033325195, 0.5442397594451904, -0.028836946934461594, -0.05450669303536415, 0.0, -0.8727390766143799], "max": [1.227428674697876, -0.6196849942207336, 0.0, 1.5700000524520874, 0.0, -0.13689836859703064, 0.8143203854560852, 1.1233532428741455, 0.0, 0.0, 0.14104098081588745, 0.4822549521923065, 0.8798745274543762, 0.039510659873485565, 0.22126440703868866, 0.2987523674964905, 0.34963902831077576, 0.08821480721235275, 0.010357600636780262, 0.05783092603087425, 0.0, 0.08303730934858322, 0.18773332238197327, 0.3400070369243622, 0.0, 0.0, 0.0, 0.046843864023685455, 0.04038197919726372, 1.3325198888778687, -0.187167689204216, -0.0008706121589057148, 1.5752497911453247, 0.17425242066383362, -0.06450871378183365, 0.5268844366073608, 1.555709958076477, 0.0, 0.7569684982299805, 0.3490658402442932, 0.5220860838890076, 1.110697865486145, 0.2997121214866638, 0.9046655297279358, 0.8920576572418213, 1.5707963705062866, 0.2905082702636719, 1.7453292608261108, 1.3962633609771729, 1.5707963705062866, 0.26184195280075073, 1.7453292608261108, 1.3962633609771729, 0.0788312703371048, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5627791881561279, -1.106863021850586, 0.6675713658332825, 0.0031295137014240026, 0.0, 0.15198831260204315, -0.5739144682884216], "mean": [1.1616437435150146, -0.722109317779541, -0.14938440918922424, 1.0681281089782715, -0.07624027132987976, -0.26062625646591187, 0.5672060251235962, 1.0797102451324463, -0.1199398934841156, -0.1682455688714981, 0.11800111085176468, 0.46691930294036865, 0.4657793343067169, 0.020449377596378326, 0.12459223717451096, 0.28585875034332275, 0.0304812490940094, 0.05478502810001373, 0.00019542756490409374, 0.05294723063707352, -0.06348036974668503, 0.03984026238322258, 0.10754682123661041, 0.3264392018318176, 0.0, -0.07256843894720078, -0.08272022753953934, 0.03203321620821953, 0.0274184700101614, 1.0690890550613403, -0.5563774704933167, -0.2195882648229599, 1.306618332862854, -1.0042153596878052, -0.4784526824951172, 0.08898226916790009, 1.3439812660217285, -0.19118428230285645, 0.4743059277534485, -0.00869559496641159, 0.147866353392601, 0.8827115297317505, 0.2075890600681305, 0.08168976753950119, 0.5857706665992737, 1.4546328783035278, 0.2023846060037613, 1.6018537282943726, 1.1960948705673218, 1.446563720703125, 0.17580300569534302, 1.6084260940551758, 1.2171331644058228, 0.0682394728064537, 1.44257652759552, 0.2969065308570862, 1.6218169927597046, 1.2970017194747925, 0.5627824664115906, -1.1068543195724487, 0.645126461982727, -0.023440586403012276, -0.03135615959763527, 0.13063451647758484, -0.8535441756248474], "std": [0.02616928331553936, 0.018703773617744446, 0.023932669311761856, 0.08063405752182007, 0.011894572526216507, 0.10756304860115051, 0.07529685646295547, 0.18719573318958282, 0.02206658571958542, 0.033179569989442825, 0.02203325554728508, 0.08462604880332947, 0.27738192677497864, 0.012540960684418678, 0.05890759453177452, 0.05184955522418022, 0.09798850119113922, 0.015098297037184238, 0.0013956873444840312, 0.01285961177200079, 0.022618643939495087, 0.02031714841723442, 0.046764012426137924, 0.059218164533376694, 0.0, 0.02872016467154026, 0.031030889600515366, 0.015986120328307152, 0.013759002089500427, 0.05818052589893341, 0.17912377417087555, 0.03149829059839249, 0.16191382706165314, 0.2792934477329254, 0.14849837124347687, 0.1415051817893982, 0.22784265875816345, 0.05557313561439514, 0.1820824295282364, 0.11324279010295868, 0.12411120533943176, 0.22706063091754913, 0.07928942888975143, 0.09971264749765396, 0.25800636410713196, 0.39350610971450806, 0.06087677180767059, 0.4721072018146515, 0.35638681054115295, 0.4089246392250061, 0.05910731106996536, 0.4658840000629425, 0.361285537481308, 0.020123504102230072, 0.4286440908908844, 0.094866544008255, 0.4274705648422241, 0.3432347774505615, 1.4466559150605462e-05, 1.2629573575395625e-05, 0.01881822943687439, 0.0075892675668001175, 0.00790725089609623, 0.0242325272411108, 0.06078772991895676], "count": [1352]}, "observation.state.tcp_pose": {"min": [0.36175236105918884, 0.18965385854244232, 0.9418343901634216, -1.2102711200714111, 1.1921236515045166, -1.3393239974975586, 0.3068462014198303, -0.22637280821800232, 0.8970739841461182, -0.09272343665361404, 1.2192243337631226, 0.5743265151977539], "max": [0.47543713450431824, 0.29017096757888794, 1.0515975952148438, -0.8548237085342407, 1.553796410560608, -1.2289462089538574, 0.49840518832206726, 0.009108480997383595, 1.0510168075561523, 1.3030064105987549, 2.1347737312316895, 1.4515724182128906], "mean": [0.46232911944389343, 0.2771455645561218, 0.970146119594574, -1.0632758140563965, 1.411881923675537, -1.276784062385559, 0.35949957370758057, -0.13175877928733826, 0.930151104927063, 0.22539997100830078, 1.900413155555725, 0.9323177933692932], "std": [0.015349598601460457, 0.019072528928518295, 0.02264554239809513, 0.07088450342416763, 0.09181483834981918, 0.014391191303730011, 0.035211190581321716, 0.06880393624305725, 0.03252144530415535, 0.27661067247390747, 0.1839228719472885, 0.1682388037443161], "count": [1352]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.18658022582530975, 0.9429519772529602, -1.208855390548706, 1.114450454711914, -1.3644301891326904, 0.30695948004722595, -0.2247939258813858, 0.897179901599884, -0.09276844561100006, 1.2198837995529175, 0.5737035870552063], "max": [0.4720083475112915, 0.2900913953781128, 1.0518032312393188, -0.7704076170921326, 1.5538406372070312, -1.2289544343948364, 0.49848780035972595, 0.009189346805214882, 1.0514049530029297, 1.294795036315918, 2.134509563446045, 1.4518905878067017], "mean": [0.4623498320579529, 0.27707359194755554, 0.9703765511512756, -1.0600178241729736, 1.40845787525177, -1.2790160179138184, 0.3596442639827728, -0.13200533390045166, 0.9301360249519348, 0.225299671292305, 1.9003404378890991, 0.931777834892273], "std": [0.015440204180777073, 0.019134551286697388, 0.02310134470462799, 0.07866338640451431, 0.09881720691919327, 0.017660358920693398, 0.03534581512212753, 0.06881379336118698, 0.03256234526634216, 0.2758910357952118, 0.18417152762413025, 0.16811321675777435], "count": [1352]}, "subtask_index": {"min": [496], "max": [514], "mean": [503.11538461538464], "std": [6.110060575533306], "count": [1352]}, "observation.tactile": {"min": [-0.0417446531355381, -3.2162330171559006e-05, -7.275766256498173e-05, -0.001436599181033671, -0.00030524429166689515, -0.0006497374270111322, -0.009216214530169964, -1.8066395568894222e-05, -3.5561268305173144e-05, -0.0017736078007146716, -2.939005571533926e-05, -0.00020162163127679378, -0.027994304895401, -3.438987550907768e-05, -7.679324335185811e-05, -0.0022234139032661915, -2.2164158508530818e-05, -0.0006107084918767214, -0.006410612724721432, -3.072151594096795e-05, -6.711566675221547e-05, -0.0007761812885291874, -5.477233207784593e-05, -0.00011779405758716166, -0.003902442753314972, -5.1881270337617025e-05, -0.00011780800559790805, -0.0006500360323116183, -2.8649972591665573e-05, -8.56348269735463e-05, -1.4930050373077393, -3.3455664379289374e-05, -7.49545797589235e-05, -0.2262280285358429, -0.016133133322000504, -0.04147367924451828, -4.793396472930908, 0.0, 0.0, -0.36929717659950256, -0.033501360565423965, -0.0933157354593277, -0.0015218430198729038, -4.9526799557497725e-05, -0.00010959035716950893, -0.00083807302871719, -2.0322269847383723e-05, -4.1358653106726706e-05, -0.007991211488842964, -4.214971704641357e-05, -9.137715096585453e-05, -0.0019471457926556468, -0.00017287189257331192, -0.0001909468264784664, -0.005644827149808407, -3.904999903170392e-05, -8.551414066459984e-05, -0.0010933513985946774, -5.97405232838355e-05, -0.0001330653904005885], "max": [0.00026010547298938036, 0.02400229685008526, 0.06732168793678284, 1.3725991721003084e-06, 3.775630102609284e-05, 5.52217488802853e-06, 0.03089282289147377, 0.02978392131626606, 0.09572546184062958, 6.74141745093948e-07, 0.0005230451351962984, 0.0004515143809840083, 0.0005123170558363199, 0.0348518043756485, 0.10601784288883209, 1.4423205811908701e-06, 0.0001459500490454957, 5.64474839848117e-06, 0.00024211182608269155, 0.01403401605784893, 0.04136677458882332, 1.2174565426903428e-06, 2.3981761842151172e-05, 5.034604782849783e-06, 0.0016136161284521222, 0.010321006178855896, 0.029670285061001778, 2.259334678456071e-06, 6.552471313625574e-05, 2.3758431780152023e-05, 4.135148525238037, 9.921797752380371, 9.553129196166992, 1.3987859119879431e-06, 0.01847018487751484, 0.0817018374800682, 2.7096433639526367, 10.442233085632324, 19.565662384033203, 0.0, 0.004858559928834438, 0.05913953855633736, 0.015103774145245552, 0.01658775843679905, 0.05076845735311508, 1.970995299416245e-06, 0.000291016127448529, 0.00018734633340500295, 0.009912822395563126, 0.04090322181582451, 0.1182103157043457, 1.6924233250392717e-06, 0.00019879540195688605, 0.0001081129303202033, 0.002921996172517538, 0.01639416068792343, 0.046541448682546616, 1.5836440070415847e-06, 0.0001112923928303644, 3.633453889051452e-05], "mean": [-0.005240260157734156, 0.004377882461994886, 0.013000520877540112, -0.0002591238880995661, -5.245952706900425e-05, -8.541693387087435e-05, 2.8397793357726187e-05, 0.00445128558203578, 0.013359217904508114, -0.00023907683498691767, 5.312975918059237e-05, -1.533314207335934e-05, -0.0017935562646016479, 0.003250950248911977, 0.009621048346161842, -0.0001841383200371638, 1.5578947568428703e-05, -4.005398659501225e-05, -0.00047623380669392645, 0.0013485829113051295, 0.004113022703677416, -7.087863195920363e-05, -1.7609944507057662e-06, -7.120265763660427e-06, 5.0962058594450355e-05, 0.0012865940807387233, 0.0037954431027173996, -8.103152504190803e-05, 5.693307230103528e-06, -8.617291769041913e-07, 0.703630805015564, 1.6180142164230347, 2.015603542327881, -0.03900116682052612, 0.0018053718376904726, 0.013253873214125633, -0.8103281259536743, 2.5019338130950928, 4.335653781890869, -0.0894775539636612, -0.00543462997302413, -0.013323795050382614, 0.0003174504672642797, 0.0024496507830917835, 0.00718292873352766, -0.00014833502063993365, 2.3540991605841555e-05, -3.771368483285187e-06, -0.0008134530507959425, 0.009151986800134182, 0.026730362325906754, -0.0003869023057632148, -1.6543919628020376e-05, -8.545061973563861e-06, -0.0010493035661056638, 0.004798289388418198, 0.013623678125441074, -0.0003224180545657873, 1.687192707322538e-05, -3.138052488793619e-05], "std": [0.006769218016415834, 0.0048675271682441235, 0.014492996037006378, 0.00028737346292473376, 6.152980495244265e-05, 0.00011051432375097647, 0.0030529035720974207, 0.004890063777565956, 0.014862977899610996, 0.0002698721655178815, 8.067135058809072e-05, 4.320591688156128e-05, 0.0033090931829065084, 0.004474399145692587, 0.013256827369332314, 0.00027530905208550394, 2.309272349521052e-05, 7.324109901674092e-05, 0.0010794190457090735, 0.0023492637556046247, 0.007096031215041876, 0.00012335424253251404, 6.445996859838488e-06, 1.8292836102773435e-05, 0.0005331704742275178, 0.0019276344683021307, 0.0055906749330461025, 0.00011924951104447246, 1.158924260380445e-05, 1.1321983038214967e-05, 1.2218356132507324, 2.1207571029663086, 2.508230209350586, 0.050805214792490005, 0.006139562930911779, 0.02492649108171463, 1.4168179035186768, 3.072777509689331, 5.24448823928833, 0.10658027976751328, 0.008539239875972271, 0.02662089839577675, 0.001236972282640636, 0.0027418448589742184, 0.008055275306105614, 0.00016098223568405956, 3.5924455005442724e-05, 1.5506575437029824e-05, 0.0015559120802208781, 0.007014160510152578, 0.02043650485575199, 0.00030037006945349276, 4.360444290796295e-05, 3.187862239428796e-05, 0.0009782339911907911, 0.0035102274268865585, 0.009999030269682407, 0.00023715081624686718, 2.649055932124611e-05, 2.1926050976617262e-05], "count": [1352]}, "timestamp": {"min": [0.0], "max": [45.03333333333333], "mean": [22.51666666666667], "std": [13.009622507120556], "count": [1352]}, "frame_index": {"min": [0], "max": [1351], "mean": [675.5], "std": [390.2886752136167], "count": [1352]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1352]}, "index": {"min": [26962], "max": [28313], "mean": [27637.5], "std": [390.2886752136167], "count": [1352]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1352]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5447939038276672]], [[0.5445519089698792]], [[0.5467369556427002]]], "std": [[[0.29960572719573975]], [[0.2996748983860016]], [[0.30085819959640503]]], "count": [1352]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2527925372123718]], [[0.25346627831459045]], [[0.2528006434440613]]], "std": [[[0.15639753639698029]], [[0.1578962653875351]], [[0.1568595916032791]]], "count": [1352]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.19204621016979218]], [[0.1929265409708023]], [[0.19257481396198273]]], "std": [[[0.13020841777324677]], [[0.13117434084415436]], [[0.13443218171596527]]], "count": [1352]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5448314547538757]], [[0.5445553064346313]], [[0.546650767326355]]], "std": [[[0.2986403703689575]], [[0.29882434010505676]], [[0.30042627453804016]]], "count": [1352]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6235294342041016]], [[0.6235294342041016]], [[0.6235294342041016]]], "mean": [[[0.0016818466829136014]], [[0.0016818466829136014]], [[0.0016818466829136014]]], "std": [[[0.024333586916327477]], [[0.024333586916327477]], [[0.024333586916327477]]], "count": [1352]}, "observation.images.tactile_raw": {"min": [[[0.019607843831181526]], [[0.019607843831181526]], [[0.019607843831181526]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46798744797706604]], [[0.46798744797706604]], [[0.46798744797706604]]], "std": [[[0.23506490886211395]], [[0.23506490886211395]], [[0.23506490886211395]]], "count": [1352]}}}
+{"episode_index": 17, "stats": {"observation.state": {"min": [1.0499813556671143, -0.780018150806427, -0.16556888818740845, 1.0029178857803345, -0.030215347185730934, -0.7700467109680176, 0.43002849817276, 0.006307253614068031, -0.24199767410755157, -0.0008345135138370097, 6.515486165881157e-05, 0.0030829242896288633, 0.0035332604311406612, -1.0057933650386985e-05, 0.0034555697347968817, 0.0008442771504633129, -0.17099528014659882, -0.0007374158594757318, 0.0034842893946915865, 0.0008203323232010007, -0.13394203782081604, -0.03584408015012741, 0.006831362843513489, 0.0008048125309869647, 0.005564741790294647, -0.14051669836044312, -0.03820425271987915, 0.003496344666928053, 0.000870439107529819, 1.0501340627670288, -0.7799304127693176, -0.22627882659435272, 0.7420614361763, -1.1270309686660767, -0.7697367072105408, -0.11432770639657974, 0.007574703078716993, -0.2300821989774704, 0.003058682894334197, -0.2183489203453064, 0.0034782616421580315, 0.0051241228356957436, -0.14107699692249298, 0.0031187350396066904, 0.0007759900763630867, 0.0036711269058287144, -0.0738302543759346, 0.002712051384150982, 0.0008624575566500425, -0.0001761352614266798, -0.033282022923231125, 0.0035885307006537914, 0.0008793076267465949, 0.005329264793545008, -0.06609009206295013, -0.03410162031650543, 0.003476134268566966, 0.0008872891776263714, 0.5622998476028442, -1.1070547103881836, 0.5441796779632568, -0.022050973027944565, -0.022530343383550644, -0.0001917476038215682, -0.8729309439659119], "max": [1.239713430404663, -0.5947518348693848, 9.82706478680484e-06, 1.5700114965438843, 4.2783682147273794e-05, -0.1103636845946312, 0.6981859803199768, 1.1922783851623535, -6.793450302211568e-05, 0.35907652974128723, 0.31403782963752747, 0.4796186089515686, 0.8113975524902344, 0.041268717497587204, 0.2149941623210907, 0.2997600734233856, 0.5056703090667725, 0.08832315355539322, 0.007566017098724842, 0.059292737394571304, 0.009789262898266315, 0.062411367893218994, 0.18520769476890564, 0.3229537606239319, 0.005893338471651077, 0.015989089384675026, -0.004805705044418573, 0.1260850429534912, 0.1079459860920906, 1.3333909511566162, -0.13176868855953217, -0.00021931131777819246, 1.569706678390503, 0.22333142161369324, 0.018257606774568558, 0.5666492581367493, 1.5134464502334595, 0.005526353605091572, 0.7428638935089111, 0.31074732542037964, 0.29835471510887146, 1.0463637113571167, 0.2713916003704071, 0.5602844953536987, 0.8589159250259399, 1.4688835144042969, 0.2673002779483795, 1.6556695699691772, 1.308197259902954, 1.4686857461929321, 0.23326338827610016, 1.6548608541488647, 1.308213233947754, 0.061488308012485504, 1.4696030616760254, 0.3145872950553894, 1.65523099899292, 1.308178186416626, 0.5633544325828552, -1.1060960292816162, 0.7029467225074768, 0.0026844663079828024, 0.028858013451099396, 0.18609105050563812, -0.5997864603996277], "mean": [1.1917661428451538, -0.682662844657898, -0.1537192314863205, 1.0458815097808838, -0.029174864292144775, -0.2324962019920349, 0.5418354868888855, 1.1392924785614014, -0.21842312812805176, 0.1395484209060669, 0.28893598914146423, 0.4668405055999756, 0.5533214807510376, 0.026670077815651894, 0.11970824003219604, 0.2872069180011749, 0.21977917850017548, 0.05952782928943634, 0.003780231112614274, 0.03874723240733147, -0.007321524899452925, 0.017680561169981956, 0.09256456792354584, 0.31216856837272644, 0.005729321856051683, -0.030309416353702545, -0.032621465623378754, 0.04314810782670975, 0.03717247396707535, 1.1329922676086426, -0.5092184543609619, -0.21791593730449677, 1.1769380569458008, -1.0143483877182007, -0.34055423736572266, 0.17625369131565094, 1.361952304840088, -0.14195559918880463, 0.5390593409538269, -0.024140022695064545, 0.06169363483786583, 0.8350114822387695, 0.18366402387619019, 0.05558864772319794, 0.4934479296207428, 1.3692841529846191, 0.20059196650981903, 1.5279877185821533, 1.0714943408966064, 1.3642288446426392, 0.16722536087036133, 1.533048391342163, 1.1132773160934448, 0.056622568517923355, 1.3557887077331543, 0.2766512930393219, 1.5495086908340454, 1.224687933921814, 0.562497079372406, -1.1068460941314697, 0.6646468043327332, -0.014649054035544395, 0.0051893144845962524, 0.15200887620449066, -0.8566394448280334], "std": [0.028288906440138817, 0.0202159620821476, 0.02259320579469204, 0.07620282471179962, 0.004169336054474115, 0.10311220586299896, 0.07345926016569138, 0.163585364818573, 0.033708155155181885, 0.08465341478586197, 0.04466838389635086, 0.07098004221916199, 0.21048858761787415, 0.007591249421238899, 0.045992374420166016, 0.043993979692459106, 0.1666436791419983, 0.016813358291983604, 0.0008032857440412045, 0.01004389300942421, 0.02505437470972538, 0.021557629108428955, 0.05840519070625305, 0.04797031357884407, 5.7422235840931535e-05, 0.03414018824696541, 0.004708846565335989, 0.04584323987364769, 0.04075000807642937, 0.04131009057164192, 0.1497826725244522, 0.028850484639406204, 0.19579023122787476, 0.2793543040752411, 0.1229647696018219, 0.13256798684597015, 0.19283127784729004, 0.03926219791173935, 0.17838308215141296, 0.09958882629871368, 0.08334609866142273, 0.20076464116573334, 0.0754346251487732, 0.06579023599624634, 0.2574198544025421, 0.3474520742893219, 0.06562160700559616, 0.4318237006664276, 0.30472344160079956, 0.3595030903816223, 0.052751682698726654, 0.42364898324012756, 0.3166181147098541, 0.01415852177888155, 0.38565877079963684, 0.0782187432050705, 0.38501647114753723, 0.3031722903251648, 7.942325464682654e-05, 7.632923370692879e-05, 0.026108426973223686, 0.005526550579816103, 0.010120926424860954, 0.0341494083404541, 0.05138222128152847], "count": [1516]}, "observation.state.joint_torque": {"min": [-45.78150177001953, -3.3914999961853027, -18.53499984741211, -6.770999908447266, -0.31679999828338623, -0.3871999979019165, 0.7088000178337097, -0.8023223876953125, -0.47884634137153625, -0.3740495443344116, -0.34173962473869324, -0.12451920658349991, -0.4020155072212219, -0.2465822994709015, -0.0979551151394844, -0.032821137458086014, -0.4068128168582916, -0.2552174925804138, -0.034865379333496094, -0.03139413148164749, -0.3828262388706207, -0.6274896264076233, -0.12119869887828827, -0.04709119349718094, -0.001759204315021634, -0.31374481320381165, -0.29935285449028015, -0.1062563955783844, -0.03638865053653717, 5.010000228881836, -9.82349967956543, -4.145999908447266, -10.821000099182129, -1.6912000179290771, -4.780799865722656, -3.158400058746338, -1.5766270160675049, -0.7717576622962952, -1.4837714433670044, -1.3893269300460815, -0.17100638151168823, -0.38666409254074097, -0.8807881474494934, -0.21417304873466492, -0.20263484120368958, -0.715760350227356, -0.33773142099380493, -0.06641025096178055, -0.07135029137134552, -0.3099069595336914, -0.46342119574546814, -0.0979551151394844, -0.04209667816758156, -0.13106073439121246, -0.40393444895744324, -0.3693937361240387, -0.0879935771226883, -0.08419335633516312, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-12.668999671936035, 17.4689998626709, -3.4779999256134033, 5.256999969482422, 1.8839999437332153, 1.8904000520706177, 3.3712000846862793, 1.2174922227859497, 0.29800543189048767, 0.5492688417434692, 0.6673243045806885, 0.11787818372249603, 0.4970024526119232, 0.20052804052829742, 0.12451920658349991, 0.02354559674859047, 0.46438068151474, 0.2245146483182907, 0.0531281977891922, 0.022832093760371208, 0.22355516254901886, 0.5075565576553345, 0.11953844130039215, 0.02354559674859047, 0.002638806588947773, 0.30894747376441956, 0.3147042393684387, 0.09131408482789993, 0.022832093760371208, 48.61800003051758, 23.832000732421875, 18.530000686645508, 8.619999885559082, 0.8712000250816345, 2.5280001163482666, 2.976799964904785, 2.4935667514801025, 3.8575148582458496, 1.9211981296539307, 1.7956864833831787, 0.17930765450000763, 2.1472809314727783, 1.2434656620025635, 1.0592433214187622, 0.21405088901519775, 0.5689623355865479, 0.24946071207523346, 0.23741662502288818, 0.07848532497882843, 0.9028558731079102, 0.31662318110466003, 0.10127562284469604, 0.0834798514842987, 0.12050550431013107, 1.822022557258606, 0.2840014100074768, 0.10459613054990768, 0.11701448261737823, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.206174850463867, 4.410499095916748, -11.735965728759766, -1.4380643367767334, 0.38165751099586487, 0.1954207420349121, 2.0571818351745605, 0.031422339379787445, -0.02633330225944519, 0.07660827785730362, -0.00205992697738111, 0.0001248470798600465, 0.06341450661420822, 0.0014290709514170885, 0.00415064487606287, 0.00039016816299408674, 0.07482879608869553, -0.037002015858888626, -0.00014894123887643218, 0.0016006759833544493, 0.00479543162509799, 0.022803766652941704, 0.013291902840137482, 0.001023185788653791, -4.641704890673282e-06, 0.02732260338962078, 0.009401608258485794, 0.004003888461738825, -0.0010900234337896109, 24.87323570251465, 1.2236125469207764, 10.0326566696167, -3.782663345336914, -0.4309282898902893, 0.9851686358451843, -1.0677865743637085, 0.07291121780872345, 0.5368216037750244, 0.3082790672779083, 0.15489204227924347, -0.0013043294893577695, 0.6144087910652161, -0.0424860380589962, 0.3229675590991974, 0.0636332780122757, 0.003599900286644697, -0.02570173144340515, 0.0004950097063556314, 0.0015324318083003163, -0.00016708049224689603, -0.027758654206991196, 0.00029459656798280776, 7.153825572459027e-05, 6.585707888007164e-05, 0.009376278147101402, -0.03112754225730896, 0.0014905096031725407, 0.0014100640546530485, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.263431429862976, 1.1297813653945923, 0.7039873003959656, 0.7664703726768494, 0.19785067439079285, 0.3085639476776123, 0.23249933123588562, 0.09898892045021057, 0.06725022941827774, 0.10454428941011429, 0.08830131590366364, 0.012117726728320122, 0.06417214870452881, 0.04486605152487755, 0.01783367618918419, 0.004620242863893509, 0.08237571269273758, 0.04973906651139259, 0.0038433088921010494, 0.005657840520143509, 0.05242105945944786, 0.09599722921848297, 0.022311978042125702, 0.007282946724444628, 0.0003253871691413224, 0.05663856863975525, 0.044484857469797134, 0.012640072964131832, 0.010292920283973217, 4.176868915557861, 2.5981037616729736, 2.5330471992492676, 1.517673373222351, 0.2853589355945587, 0.9512505531311035, 0.8355873823165894, 0.5741621851921082, 0.8694839477539062, 0.49205341935157776, 0.4860258102416992, 0.03232746571302414, 0.8601319789886475, 0.21057447791099548, 0.45419764518737793, 0.1012244001030922, 0.050286974757909775, 0.06154777854681015, 0.01012857723981142, 0.010000519454479218, 0.04615017771720886, 0.05939267948269844, 0.009905046783387661, 0.010744204744696617, 0.015609178692102432, 0.07326964288949966, 0.06100799888372421, 0.015514611266553402, 0.006630817428231239, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1516]}, "observation.state.tcp": {"min": [0.3617660105228424, 0.19226382672786713, 0.9409712553024292, -1.2295160293579102, 1.1928484439849854, -1.3472404479980469, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3423265814781189, -0.2282932698726654, 0.8969053626060486, -0.1154785305261612, 1.2182862758636475, 0.7176060676574707, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4826911985874176, 0.29866644740104675, 1.0518138408660889, -0.9007432460784912, 1.5564228296279907, -1.228743553161621, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49590441584587097, -0.0022740252315998077, 1.0518006086349487, 1.3657644987106323, 2.245274782180786, 1.4171149730682373, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.46802592277526855, 0.2812221348285675, 0.9728374481201172, -1.125363826751709, 1.4000688791275024, -1.2801222801208496, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.40601423382759094, -0.1195082888007164, 0.9329937100410461, 0.08389495313167572, 1.936531662940979, 0.9924988746643066, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.015449305064976215, 0.0175862405449152, 0.024389008060097694, 0.07882765680551529, 0.09813038259744644, 0.01734616607427597, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03335539251565933, 0.050129979848861694, 0.031043626368045807, 0.29160985350608826, 0.18241198360919952, 0.1438383013010025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1516]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.16566286981105804, 1.0027210712432861, -0.030112281441688538, -0.7699999809265137, 0.4298337399959564, 0.0, -0.2491651177406311, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.15876279771327972, -0.04926831275224686, 0.0, 0.0, 0.0, -0.1498369723558426, -0.174671471118927, 0.0, 0.0, 1.0502852201461792, -0.7798044085502625, -0.22626562416553497, 0.7419355511665344, -1.1270136833190918, -0.7694591879844666, -0.114360012114048, 0.0, -0.23899398744106293, 0.0, -0.2220326066017151, -0.1734781563282013, 0.0, -0.14188259840011597, 0.0, 0.0, 0.0, -0.08013976365327835, 0.0, 0.0, 0.0, -0.08704263716936111, 0.0, 0.0, 0.0, -0.06971940398216248, -0.14744335412979126, 0.0, 0.0, 0.5623958110809326, -1.1069588661193848, 0.5442397594451904, -0.022331001237034798, -0.029698077589273453, 0.0, -0.8726646304130554], "max": [1.2397630214691162, -0.5947238802909851, 4.979493697900299e-18, 1.5700000524520874, 0.0, -0.10903318226337433, 0.7159581184387207, 1.1966967582702637, 0.0, 0.3676035404205322, 0.3302001357078552, 0.4822549521923065, 0.8195163011550903, 0.04027789086103439, 0.2206069529056549, 0.30423620343208313, 0.516160786151886, 0.08696835488080978, 0.013440693728625774, 0.06231798976659775, 0.012323740869760513, 0.06856029480695724, 0.19156645238399506, 0.32650795578956604, 0.010622811503708363, 0.01971583068370819, 0.0, 0.13086773455142975, 0.11217233538627625, 1.3335481882095337, -0.13169905543327332, -0.0003359293332323432, 1.5694043636322021, 0.2232934981584549, 0.018373535946011543, 0.5670139789581299, 1.5195368528366089, 0.0, 0.7476687431335449, 0.3490658402442932, 0.3018641173839569, 1.0677465200424194, 0.26462239027023315, 0.6042734980583191, 0.8806965351104736, 1.5707963705062866, 0.27056658267974854, 1.7453292608261108, 1.3890674114227295, 1.5707963705062866, 0.24170845746994019, 1.7453292608261108, 1.3962633609771729, 0.07852640002965927, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.7035372853279114, 0.0027064464520663023, 0.029340555891394615, 0.18684503436088562, -0.59987473487854], "mean": [1.1918224096298218, -0.6826180815696716, -0.1537291705608368, 1.0458650588989258, -0.02917470410466194, -0.23272192478179932, 0.5419484972953796, 1.1475515365600586, -0.22071784734725952, 0.1426834613084793, 0.2916785180568695, 0.46953085064888, 0.5584190487861633, 0.026650143787264824, 0.12155042588710785, 0.2908865511417389, 0.22531959414482117, 0.05984554812312126, 0.0006020296714268625, 0.041394833475351334, -0.0065531423315405846, 0.021365974098443985, 0.09569961577653885, 0.3140052556991577, 0.0025912337005138397, -0.027709294110536575, -0.09579899907112122, 0.04533778876066208, 0.03847533464431763, 1.133136510848999, -0.5094215869903564, -0.2179359346628189, 1.1769582033157349, -1.0151493549346924, -0.34049561619758606, 0.17652122676372528, 1.3597517013549805, -0.140264630317688, 0.5410469770431519, -0.0211322158575058, 0.019824350252747536, 0.8497539758682251, 0.19021980464458466, 0.06522241979837418, 0.5239624381065369, 1.4649500846862793, 0.19782400131225586, 1.6120678186416626, 1.0776968002319336, 1.4595251083374023, 0.1631084382534027, 1.6185472011566162, 1.1193166971206665, 0.07032843679189682, 1.4541525840759277, 0.2746002972126007, 1.6308332681655884, 1.304643154144287, 0.5625792145729065, -1.1068501472473145, 0.6646897196769714, -0.014691171236336231, 0.005213558208197355, 0.15204782783985138, -0.8564996719360352], "std": [0.028208589181303978, 0.020250428467988968, 0.022598687559366226, 0.07645703852176666, 0.004169817548245192, 0.10366595536470413, 0.0736643448472023, 0.17823152244091034, 0.037363383919000626, 0.08683175593614578, 0.04906783998012543, 0.07729484140872955, 0.21604065597057343, 0.008070358075201511, 0.04886185750365257, 0.04793868213891983, 0.1712203025817871, 0.01726013794541359, 0.0026292039547115564, 0.011133519001305103, 0.027558650821447372, 0.024291930720210075, 0.05972907319664955, 0.051762085407972336, 0.0044574071653187275, 0.037574101239442825, 0.04287460446357727, 0.04874216020107269, 0.042085833847522736, 0.04143713042140007, 0.14943332970142365, 0.028800485655665398, 0.19542135298252106, 0.2772035598754883, 0.1231805682182312, 0.13308316469192505, 0.21239404380321503, 0.04219721630215645, 0.185759499669075, 0.10371893644332886, 0.12361565977334976, 0.21777479350566864, 0.0783349871635437, 0.07631371170282364, 0.28017672896385193, 0.38071462512016296, 0.06541422754526138, 0.456390380859375, 0.3074258863925934, 0.39071860909461975, 0.05852237716317177, 0.4492591619491577, 0.3194618821144104, 0.019707152619957924, 0.41233018040657043, 0.0950043648481369, 0.41735365986824036, 0.3338773250579834, 2.0385841708048247e-05, 1.909283128043171e-05, 0.026299282908439636, 0.0055611953139305115, 0.010228591971099377, 0.03428417444229126, 0.05174623057246208], "count": [1516]}, "observation.state.tcp_pose": {"min": [0.3617660105228424, 0.19226382672786713, 0.9409712553024292, -1.2295160293579102, 1.1928484439849854, -1.3472404479980469, 0.3423265814781189, -0.2282932698726654, 0.8969053626060486, -0.1154785305261612, 1.2182862758636475, 0.7176060676574707], "max": [0.4826911985874176, 0.29866644740104675, 1.0518138408660889, -0.9007432460784912, 1.5564228296279907, -1.228743553161621, 0.49590441584587097, -0.0022740252315998077, 1.0518006086349487, 1.3657644987106323, 2.245274782180786, 1.4171149730682373], "mean": [0.46802592277526855, 0.2812221348285675, 0.9728374481201172, -1.125363826751709, 1.4000688791275024, -1.2801222801208496, 0.40601423382759094, -0.1195082888007164, 0.9329937100410461, 0.08389495313167572, 1.936531662940979, 0.9924988746643066], "std": [0.015449305064976215, 0.0175862405449152, 0.024389008060097694, 0.07882765680551529, 0.09813038259744644, 0.01734616607427597, 0.03335539251565933, 0.050129979848861694, 0.031043626368045807, 0.29160985350608826, 0.18241198360919952, 0.1438383013010025], "count": [1516]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.19080114364624023, 0.9424974918365479, -1.2259881496429443, 1.1799654960632324, -1.3479795455932617, 0.34248363971710205, -0.22816960513591766, 0.8966885209083557, -0.1150280237197876, 1.218576192855835, 0.7172507643699646], "max": [0.4830459654331207, 0.29956376552581787, 1.0518032312393188, -0.8880192637443542, 1.5516730546951294, -1.2252116203308105, 0.4959166944026947, -0.0020425813272595406, 1.0516536235809326, 1.3649094104766846, 2.2458744049072266, 1.419571042060852], "mean": [0.4681167006492615, 0.2812335789203644, 0.9727813005447388, -1.1253668069839478, 1.3999440670013428, -1.2799601554870605, 0.40610551834106445, -0.11956991255283356, 0.9329836964607239, 0.08283013105392456, 1.9366545677185059, 0.9924454689025879], "std": [0.015500545501708984, 0.017628703266382217, 0.024183204397559166, 0.07851742208003998, 0.09807051718235016, 0.01790899783372879, 0.0333305224776268, 0.05013256147503853, 0.031261224299669266, 0.2898755967617035, 0.18237663805484772, 0.14371292293071747], "count": [1516]}, "subtask_index": {"min": [64], "max": [545], "mean": [526.0587071240105], "std": [48.73570269383609], "count": [1516]}, "observation.tactile": {"min": [-0.026041243225336075, -3.623991142376326e-05, -8.14604718470946e-05, -0.0009963592747226357, -0.00020680342277046293, -0.0005011528846807778, -0.011067451909184456, -2.6904068363364786e-05, -5.5666445405222476e-05, -0.0015383015852421522, -1.602914198883809e-05, -0.000226117845159024, -0.013782150112092495, -3.4990669519174844e-05, -7.67486053518951e-05, -0.001627148361876607, -2.2683881979901344e-05, -0.0003036896523553878, -0.262835830450058, -3.002833000209648e-05, -6.773987843189389e-05, -0.001992450561374426, -0.00018849418847821653, -0.0033401786349713802, -0.0026744999922811985, -5.862108082510531e-05, -0.00013364787446334958, -0.0007630656473338604, -2.506922282918822e-05, -6.153892900329083e-05, -2.6759562492370605, -3.921701500075869e-05, -0.03286469355225563, -0.1828506588935852, -0.02072559855878353, -0.0754324272274971, -3.810573101043701, 0.0, 0.0, -0.37855398654937744, -0.042324572801589966, -0.06810058653354645, -0.0077825612388551235, -5.114377927384339e-05, -0.00011434445332270116, -0.001127196243032813, -1.772407631506212e-05, -0.0001825908402679488, -0.011795000173151493, -4.048957271152176e-05, -8.91486561158672e-05, -0.001791756134480238, -0.0001211019407492131, -0.0002449772146064788, -0.011263159103691578, -4.0924605855252594e-05, -9.103301272261888e-05, -0.0013002759078517556, -8.095441444311291e-05, -0.00015334073395933956], "max": [0.00197134749032557, 0.01549530029296875, 0.04761093109846115, 1.5563757642667042e-06, 0.0001102339883800596, 6.110692993388511e-06, 0.0071562509983778, 0.02752254158258438, 0.07846159487962723, 1.043535803546547e-06, 0.00018361813272349536, 9.451330697629601e-05, 0.0027410839684307575, 0.025443701073527336, 0.07439932227134705, 1.4435174762184033e-06, 0.0001396402803948149, 1.8455582903698087e-05, 0.09362399578094482, 0.0461268313229084, 0.12095939368009567, 1.2227762908878503e-06, 0.0005097311805002391, 0.0014553486835211515, 0.0006215650937519968, 0.012477175332605839, 0.0351722426712513, 2.559442236815812e-06, 5.928408063482493e-05, 1.1586645086936187e-05, 6.0648417472839355, 10.221162796020508, 8.897042274475098, 1.6168950196515652e-06, 0.03613058477640152, 0.12523511052131653, 6.624056339263916, 15.492077827453613, 20.95574378967285, 0.0, 0.021955111995339394, 0.12391270697116852, 0.007704239804297686, 0.016555223613977432, 0.04828929901123047, 2.0794202555407537e-06, 0.00023927319853100926, 5.547228647628799e-05, 0.02107197418808937, 0.03406241908669472, 0.10049857199192047, 1.669881385168992e-06, 0.00023156049428507686, 0.0002891200128942728, 0.002226388780400157, 0.02016482688486576, 0.05758010223507881, 1.7006809684971813e-06, 0.00012068189971614629, 1.5573299606330693e-05], "mean": [-0.0009489447111263871, 0.0012325553689152002, 0.0037768918555229902, -7.762381574138999e-05, -1.2360562323010527e-05, -1.604807039257139e-05, -0.0008839953225106001, 0.005326831713318825, 0.015536845661699772, -0.0003110464022029191, 3.678665962070227e-05, -2.9244794859550893e-05, -0.0006555966101586819, 0.0013063967926427722, 0.003843375016003847, -7.320981239899993e-05, 5.551416052185232e-06, -1.4468422705249395e-05, 0.001871907152235508, 0.0022897811140865088, 0.006943738088011742, -0.00011578210251173005, 2.8019128876621835e-05, 2.7749505534302443e-05, 0.00021397805539891124, 0.0006298712105490267, 0.001853440422564745, -3.685829869937152e-05, 9.857227496468113e-07, 3.926967565348605e-06, 0.8595799207687378, 1.6841377019882202, 1.8266894817352295, -0.03964617848396301, 0.0035519215743988752, 0.016619637608528137, 0.02045372687280178, 2.3540146350860596, 4.856961727142334, -0.09431334584951401, -0.004126122687011957, 0.0023920785170048475, 0.000139960233354941, 0.0014710017712786794, 0.00433861231431365, -9.289265290135518e-05, 1.2309563317103311e-05, -2.1541150090342853e-06, -0.0007636795635335147, 0.0044746315106749535, 0.013054522685706615, -0.00020227638015057892, -7.545201242464827e-06, -1.1250047464272939e-05, -0.0009311799076385796, 0.004225361626595259, 0.01206416729837656, -0.00027625763323158026, 7.74022100813454e-06, -2.4346800273633562e-05], "std": [0.0026203521993011236, 0.0023099121171981096, 0.007031347136944532, 0.00014891408500261605, 2.7125870474264957e-05, 4.757955321110785e-05, 0.0018875693203881383, 0.004777978174388409, 0.013825693167746067, 0.0002777593326754868, 3.235111944377422e-05, 3.8364822103176266e-05, 0.001996302045881748, 0.0029928358271718025, 0.00877485703676939, 0.00018051346705760807, 1.580415482749231e-05, 4.422363781486638e-05, 0.015232306905090809, 0.004755249246954918, 0.014264355413615704, 0.00023486271675210446, 6.343527638819069e-05, 0.00020154754747636616, 0.00038713778485544026, 0.00156672322191298, 0.004479216877371073, 8.813879685476422e-05, 8.378597158298362e-06, 8.67800281412201e-06, 1.68033766746521, 2.451066255569458, 2.503201723098755, 0.053697433322668076, 0.007930361665785313, 0.03475109115242958, 1.5208088159561157, 3.2549688816070557, 6.630398750305176, 0.12424595654010773, 0.010428570210933685, 0.029377052560448647, 0.0006604748778045177, 0.0024496407713741064, 0.007113343104720116, 0.00015322044782806188, 2.3318376406678e-05, 1.56240894284565e-05, 0.001918705296702683, 0.005768365226686001, 0.0167904794216156, 0.00026724310009740293, 2.8503924113465473e-05, 3.6134992114966735e-05, 0.0010319112334400415, 0.0034640126395970583, 0.009858681820333004, 0.00023141871497500688, 1.802768383640796e-05, 2.1731506421929225e-05], "count": [1516]}, "timestamp": {"min": [0.0], "max": [50.5], "mean": [25.25], "std": [14.587713627874962], "count": [1516]}, "frame_index": {"min": [0], "max": [1515], "mean": [757.5], "std": [437.63140883624885], "count": [1516]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1516]}, "index": {"min": [28314], "max": [29829], "mean": [29071.5], "std": [437.63140883624885], "count": [1516]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1516]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5408109426498413]], [[0.5404471755027771]], [[0.5421552062034607]]], "std": [[[0.2997410297393799]], [[0.29982390999794006]], [[0.3004760444164276]]], "count": [1516]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.250853031873703]], [[0.25137004256248474]], [[0.2506011724472046]]], "std": [[[0.15617260336875916]], [[0.15758170187473297]], [[0.15660719573497772]]], "count": [1516]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.19065938889980316]], [[0.1916046440601349]], [[0.19252987205982208]]], "std": [[[0.12931180000305176]], [[0.12970513105392456]], [[0.1329207718372345]]], "count": [1516]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5428586602210999]], [[0.5426620841026306]], [[0.5441479086875916]]], "std": [[[0.3002905249595642]], [[0.3003803491592407]], [[0.3015938401222229]]], "count": [1516]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6313725709915161]], [[0.6313725709915161]], [[0.6313725709915161]]], "mean": [[[0.0018143914639949799]], [[0.0018143914639949799]], [[0.0018143914639949799]]], "std": [[[0.026033751666545868]], [[0.026033751666545868]], [[0.026033751666545868]]], "count": [1516]}, "observation.images.tactile_raw": {"min": [[[0.0235294122248888]], [[0.0235294122248888]], [[0.0235294122248888]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4680453836917877]], [[0.4680453836917877]], [[0.4680453836917877]]], "std": [[[0.2351435124874115]], [[0.2351435124874115]], [[0.2351435124874115]]], "count": [1516]}}}
+{"episode_index": 18, "stats": {"observation.state": {"min": [1.0502928495407104, -0.7795481085777283, -0.1513603925704956, 0.9736478924751282, -0.07894008606672287, -0.7694459557533264, 0.3292553126811981, 0.006259554997086525, -0.2117938995361328, -0.0011381275253370404, 0.005431912839412689, 0.0030868242029100657, -0.0019009399693459272, 0.00013467733515426517, 0.0034098313190042973, 0.0008535890956409276, -0.16945518553256989, -0.0001844762300606817, 0.0034381961449980736, 0.0008362955995835364, -0.15367093682289124, -0.02322070300579071, 0.006837035994976759, 0.0008340784697793424, 0.00551443500444293, -0.1435949057340622, -0.03815053030848503, 0.0035165545996278524, 0.0008487114100717008, 0.99774169921875, -0.7794567346572876, -0.23031140863895416, 0.9273506999015808, -0.9741122126579285, -0.7687453627586365, -0.018914103507995605, 0.007239185739308596, -0.21455539762973785, 0.003100540954619646, -0.18747003376483917, 0.0034484786447137594, 0.0068045249208807945, -0.0909990519285202, 0.003130790311843157, 0.0007857453892938793, 0.005443276837468147, -0.04478210583329201, 0.0026567394379526377, 0.0008513719658367336, -0.0014559401897713542, -0.033314403146505356, 0.003515490796416998, 0.000872656237334013, 0.005810921546071768, -0.06780140846967697, -0.037136152386665344, 0.003496344666928053, 0.0009010353242047131, 0.5620121955871582, -1.1070547103881836, 0.5441796779632568, -0.017257284373044968, -0.0541686974465847, -9.58738019107841e-05, -0.8729309439659119], "max": [1.2341549396514893, -0.5301967859268188, -0.00020900488016195595, 1.5689197778701782, -7.909588930488098e-06, 0.03551153466105461, 0.6463950872421265, 1.205475091934204, -2.077807585010305e-05, 0.24883441627025604, 0.31485456228256226, 0.47961682081222534, 0.88534015417099, 0.08955118060112, 0.1414436399936676, 0.2979549169540405, 0.5657224655151367, 0.16168804466724396, 0.21204525232315063, 0.05930647999048233, 0.18355610966682434, 0.13458648324012756, 0.3051456809043884, 0.3459705114364624, 0.0059093935415148735, 0.18244457244873047, 0.03187122195959091, 0.25966164469718933, 0.22615410387516022, 1.3301723003387451, -0.21193675696849823, -0.0005378519999794662, 1.5686242580413818, 0.2429753690958023, -0.07872328907251358, 0.6981417536735535, 1.4963384866714478, 0.0005217954749241471, 0.6681469082832336, 0.3148416578769684, 0.43589532375335693, 1.009011149406433, 0.26116102933883667, 0.692417323589325, 0.7751755118370056, 1.468886375427246, 0.28404542803764343, 1.655684471130371, 1.1728110313415527, 1.4685885906219482, 0.24349862337112427, 1.6548200845718384, 1.3082177639007568, 0.07015277445316315, 1.4685108661651611, 0.31512224674224854, 1.6546697616577148, 1.308187484741211, 0.5628750920295715, -1.1062877178192139, 0.6861687898635864, 0.0, 0.009683254174888134, 0.17976337671279907, -0.5998823642730713], "mean": [1.2053483724594116, -0.6429824829101562, -0.13959427177906036, 1.029739260673523, -0.07628902792930603, -0.11932309716939926, 0.4355684816837311, 1.1313841342926025, -0.20198629796504974, 0.1300995647907257, 0.2849158048629761, 0.4691936671733856, 0.5296506881713867, 0.022378066554665565, 0.09488876163959503, 0.28795257210731506, 0.09274432808160782, 0.05579247698187828, 0.008034075610339642, 0.035710759460926056, -0.02676728554069996, 0.026262030005455017, 0.07960781455039978, 0.3323860168457031, 0.005756441503763199, -0.04800434410572052, -0.03115248680114746, 0.026060711592435837, 0.02375195547938347, 1.071385383605957, -0.5224241018295288, -0.22258301079273224, 1.22621750831604, -0.8909597992897034, -0.4392010271549225, 0.21800921857357025, 1.3724828958511353, -0.1542961746454239, 0.42758217453956604, -0.015491899102926254, 0.16699974238872528, 0.8496655821800232, 0.20205067098140717, 0.08385106176137924, 0.4895068109035492, 1.3707340955734253, 0.211852565407753, 1.5381373167037964, 1.019364356994629, 1.3659018278121948, 0.1742076426744461, 1.5354821681976318, 1.1858900785446167, 0.06275258213281631, 1.359662413597107, 0.27227333188056946, 1.5562456846237183, 1.2300121784210205, 0.5623060464859009, -1.106846809387207, 0.6591048240661621, -0.011683177202939987, -0.010671651922166348, 0.12826856970787048, -0.8631352782249451], "std": [0.030552217736840248, 0.022947203367948532, 0.018637139350175858, 0.06561100482940674, 0.009224831126630306, 0.1255389302968979, 0.07768291980028152, 0.14248567819595337, 0.027613390237092972, 0.04293869063258171, 0.03914184123277664, 0.06337417662143707, 0.24761903285980225, 0.013446017168462276, 0.02419804222881794, 0.03912843391299248, 0.10511618107557297, 0.013152547180652618, 0.020711557939648628, 0.008033362217247486, 0.03732428327202797, 0.017663374543190002, 0.03879281133413315, 0.045223675668239594, 5.020399476052262e-05, 0.039335306733846664, 0.007640013471245766, 0.029108887538313866, 0.025107618421316147, 0.058743834495544434, 0.13233336806297302, 0.027554349973797798, 0.15010705590248108, 0.23275044560432434, 0.1580858677625656, 0.1345091611146927, 0.1804322600364685, 0.03179701417684555, 0.14370334148406982, 0.09200327843427658, 0.11189013719558716, 0.19340473413467407, 0.06921318918466568, 0.11820924282073975, 0.22587299346923828, 0.33846259117126465, 0.06431281566619873, 0.41442516446113586, 0.2892674505710602, 0.3590713441371918, 0.05648333579301834, 0.41913968324661255, 0.3256188631057739, 0.016021423041820526, 0.3786797523498535, 0.07944139093160629, 0.3694548010826111, 0.29156142473220825, 8.640830492367968e-05, 7.046233076835051e-05, 0.02064463496208191, 0.0035277751740068197, 0.011051473207771778, 0.03384554758667946, 0.03591684252023697], "count": [1562]}, "observation.state.joint_torque": {"min": [-49.12950134277344, -14.905500411987305, -19.424999237060547, -10.079000473022461, -0.46160000562667847, -1.3904000520706177, 0.5320000052452087, -0.7615694403648376, -0.7004401683807373, -0.2062864452600479, -0.45979511737823486, -0.11289741843938828, -0.34444764256477356, -0.28112301230430603, -0.08135254681110382, -0.032821137458086014, -0.2561769485473633, -0.27824461460113525, -0.07637178897857666, -0.03139413148164749, -0.3761099874973297, -0.4240832030773163, -0.17266662418842316, -0.04923170804977417, -0.0021990055684000254, -0.47493478655815125, -0.47013744711875916, -0.12783971428871155, -0.03781566023826599, -7.4054999351501465, -10.897500038146973, -15.954999923706055, -8.442000389099121, -3.1080000400543213, -7.0015997886657715, -3.474400043487549, -1.7536474466323853, -0.8443487286567688, -0.6822366118431091, -0.9630843997001648, -0.15606407821178436, -0.49412405490875244, -0.9057342410087585, -0.660781979560852, -0.21333740651607513, -0.591029942035675, -0.3626774847507477, -0.7587370276451111, -0.15554364025592804, -1.50252103805542, -0.3262178301811218, -0.7537562847137451, -0.16410566866397858, -0.13985675573349, -1.7011300325393677, -0.42983996868133545, -0.10127562284469604, -0.05493973195552826, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-16.113000869750977, 12.812999725341797, -5.380000114440918, 4.8480000495910645, 1.8696000576019287, 1.6399999856948853, 3.2304000854492188, 0.7029871344566345, 0.37569060921669006, 0.495833158493042, 0.8052628636360168, 0.10791664570569992, 0.34924498200416565, 0.2417849749326706, 0.10127562284469604, 0.019264578819274902, 0.30894750356674194, 0.1611899882555008, 0.16934612393379211, 0.01712406985461712, 0.2935960292816162, 0.7100035548210144, 0.14610254764556885, 0.022118592634797096, 0.002638806588947773, 0.5046781897544861, 0.151595339179039, 0.16602559387683868, 0.022118592634797096, 49.48649978637695, 10.248000144958496, 18.240999221801758, 4.293000221252441, 0.5871999859809875, 2.176800012588501, 8.3503999710083, 1.875905990600586, 3.12650990486145, 2.0367681980133057, 1.8391804695129395, 0.47317299246788025, 2.1434431076049805, 2.1434431076049805, 1.0559228658676147, 0.21333740651607513, 0.3175826668739319, 0.34252873063087463, 0.1145576685667038, 0.027113113552331924, 0.6111786961555481, 0.2552174925804138, 0.08965382725000381, 0.1334250569343567, 0.12006568908691406, 0.4451914131641388, 0.33293411135673523, 0.10791664570569992, 0.07135029137134552, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.029014587402344, 3.5348668098449707, -12.032818794250488, -1.681815505027771, 0.18197740614414215, 0.06049731746315956, 1.9860901832580566, 0.026007892563939095, -0.010446670465171337, 0.05907793343067169, -0.005258717108517885, 0.00016687523748259991, 0.05109673738479614, -0.00762596633285284, 0.004247365519404411, 0.0009670213330537081, 0.0540580227971077, -0.04502851143479347, -0.00031887192744761705, 0.0003174687153659761, 0.005510491319000721, 0.022627245634794235, 0.0012287170393392444, 0.0002987394400406629, -5.4060012189438567e-05, 0.013262312859296799, -0.006302851252257824, 0.0031546964310109615, 0.0006596014718525112, 23.181493759155273, 1.1851345300674438, 9.6285982131958, -4.414855480194092, -0.6231015920639038, 0.767012894153595, -1.0863105058670044, 0.059860650449991226, 0.3882577121257782, 0.22284410893917084, 0.10605984926223755, 0.04578879475593567, 0.41977497935295105, -0.000605623354203999, 0.22994673252105713, 0.04225974902510643, 0.00804669689387083, -0.011900528334081173, -9.459932334721088e-05, -0.0014809055719524622, -0.002135762246325612, -0.016903622075915337, -0.00021045628818683326, -0.0007797369617037475, -0.0003406887117307633, 0.005334794986993074, -0.025139527395367622, 0.0011585686588659883, 0.0011579577112570405, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.3020761013031006, 1.2605725526809692, 0.6293779015541077, 0.7155380845069885, 0.23732635378837585, 0.2941146194934845, 0.22312800586223602, 0.09503169357776642, 0.06145954132080078, 0.08682253956794739, 0.09038255363702774, 0.009733622893691063, 0.06628373265266418, 0.04753663018345833, 0.014713149517774582, 0.004182809963822365, 0.06149796396493912, 0.04659441486001015, 0.010795553214848042, 0.006054207216948271, 0.069119893014431, 0.09610969573259354, 0.018169861286878586, 0.005743831396102905, 0.0003505588392727077, 0.06885284185409546, 0.04461865499615669, 0.013303576037287712, 0.009343110956251621, 5.0226731300354, 2.373260736465454, 3.2972004413604736, 1.4926077127456665, 0.3427198827266693, 1.0756131410598755, 1.217596173286438, 0.4852979779243469, 0.6453402638435364, 0.37921586632728577, 0.35683098435401917, 0.09780101478099823, 0.6423989534378052, 0.4039680063724518, 0.3586665987968445, 0.08686712384223938, 0.04998955503106117, 0.06382886320352554, 0.020696353167295456, 0.009420284070074558, 0.05398327112197876, 0.05729496479034424, 0.021014496684074402, 0.011235577054321766, 0.01538778468966484, 0.08223096281290054, 0.0652896985411644, 0.014988578855991364, 0.005561432335525751, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1562]}, "observation.state.tcp": {"min": [0.36198586225509644, 0.19247636198997498, 0.9501179456710815, -1.208519697189331, 1.2174021005630493, -1.4260796308517456, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3330024182796478, -0.22631360590457916, 0.888542115688324, 0.0815923884510994, 1.2184205055236816, 0.8180637955665588, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4917469322681427, 0.27182334661483765, 1.0517793893814087, -0.9095234870910645, 1.7409112453460693, -1.228967308998108, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5058053731918335, -0.02400295063853264, 1.0517433881759644, 1.3488339185714722, 2.2173192501068115, 1.4392839670181274, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.478529691696167, 0.24619121849536896, 0.9793625473976135, -1.1017032861709595, 1.557527780532837, -1.3680429458618164, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37669140100479126, -0.12424302846193314, 0.9169408679008484, 0.2745230495929718, 1.8989903926849365, 1.055749535560608, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.015329510904848576, 0.01249740831553936, 0.01721859537065029, 0.05551408231258392, 0.12728223204612732, 0.041254110634326935, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.037198085337877274, 0.05157468095421791, 0.030527835711836815, 0.2326388955116272, 0.17805586755275726, 0.12903718650341034, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1562]}, "action": {"min": [1.0502220392227173, -0.7791137099266052, -0.1513870358467102, 0.9735462069511414, -0.07895807176828384, -0.7634215354919434, 0.3292740285396576, 0.0, -0.21781450510025024, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.1658787578344345, -0.023670263588428497, 0.0, 0.0, 0.0, -0.15084369480609894, -0.1702612042427063, 0.0, 0.0, 0.9977738857269287, -0.7781842947006226, -0.23029237985610962, 0.9273151755332947, -0.9740926623344421, -0.7642121911048889, -0.019040826708078384, 0.0, -0.21397100389003754, 0.0, -0.19106537103652954, -0.07750847935676575, 0.0, -0.09106940776109695, 0.0, 0.0, 0.0, -0.048022039234638214, 0.0, 0.0, 0.0, -0.06786806136369705, 0.0, 0.0, 0.0, -0.06937436759471893, -0.09145314246416092, 0.0, 0.0, 0.5623000264167786, -1.1069588661193848, 0.5442397594451904, -0.01763596571981907, -0.062319789081811905, 0.0, -0.8727054595947266], "max": [1.2341830730438232, -0.5301518440246582, -0.0011397836497053504, 1.564614176750183, -0.0007432567072100937, 0.03560807555913925, 0.6463987231254578, 1.212515950202942, 0.0, 0.25357604026794434, 0.3318299651145935, 0.4822549521923065, 0.8872733116149902, 0.09530919045209885, 0.14935913681983948, 0.3008711338043213, 0.5729547739028931, 0.1625170111656189, 0.21795062720775604, 0.06231798976659775, 0.19023831188678741, 0.13595980405807495, 0.31095820665359497, 0.34886565804481506, 0.02190716192126274, 0.1889811009168625, 0.032703571021556854, 0.265627920627594, 0.22768105566501617, 1.3304601907730103, -0.21182681620121002, -0.0028138053603470325, 1.5652871131896973, 0.2431347817182541, -0.07818819582462311, 0.8010608553886414, 1.505510687828064, 0.0, 0.6667509078979492, 0.3490658402442932, 0.44040200114250183, 1.0515438318252563, 0.30354708433151245, 0.6966193914413452, 0.7831928730010986, 1.5707963705062866, 0.29328858852386475, 1.7453292608261108, 1.174214243888855, 1.5707963705062866, 0.2506248354911804, 1.7453292608261108, 1.3962633609771729, 0.08282345533370972, 1.5707963705062866, 0.3359522223472595, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106869101524353, 0.6868544816970825, 0.005655729211866856, 0.01068645715713501, 0.18004253506660461, -0.6000000238418579], "mean": [1.205371618270874, -0.6428900361061096, -0.13960504531860352, 1.029643177986145, -0.07629203051328659, -0.11959031969308853, 0.43558382987976074, 1.135270357131958, -0.20593281090259552, 0.1332746148109436, 0.2874070703983307, 0.4711400270462036, 0.5337685942649841, 0.022593164816498756, 0.09767936170101166, 0.2901059687137604, 0.09855563938617706, 0.05590366944670677, 0.00684746541082859, 0.03733993321657181, -0.026807652786374092, 0.03191680088639259, 0.07796736806631088, 0.33491361141204834, 0.0001963140966836363, -0.047114189714193344, -0.10204704850912094, 0.030360447242856026, 0.0256342850625515, 1.0714935064315796, -0.522616982460022, -0.22259823977947235, 1.2260833978652954, -0.8914482593536377, -0.439454048871994, 0.21907669305801392, 1.3708549737930298, -0.15217290818691254, 0.4269513785839081, -0.01431811973452568, 0.162387877702713, 0.8529130220413208, 0.21759144961833954, 0.08490325510501862, 0.4939075708389282, 1.4666379690170288, 0.21082256734371185, 1.6215332746505737, 1.0215884447097778, 1.4606246948242188, 0.17312203347682953, 1.621777057647705, 1.1978346109390259, 0.07398896664381027, 1.456571102142334, 0.27241000533103943, 1.6401387453079224, 1.3120859861373901, 0.5623958110809326, -1.106941819190979, 0.6591543555259705, -0.011729013174772263, -0.010700446553528309, 0.1283201277256012, -0.8629898428916931], "std": [0.030478786677122116, 0.022938109934329987, 0.018603257834911346, 0.06554953753948212, 0.009207279421389103, 0.12606492638587952, 0.0776883065700531, 0.16331787407398224, 0.03201766684651375, 0.045006901025772095, 0.04563373699784279, 0.07236427068710327, 0.2522055506706238, 0.013472412712872028, 0.026564475148916245, 0.04458388313651085, 0.10738308727741241, 0.013890642672777176, 0.021201927214860916, 0.008776769042015076, 0.037354834377765656, 0.019786378368735313, 0.04064006730914116, 0.05149640515446663, 0.001903192256577313, 0.04070926085114479, 0.031183132901787758, 0.029597969725728035, 0.02569447085261345, 0.05889597907662392, 0.13215917348861694, 0.027514740824699402, 0.15014104545116425, 0.23119615018367767, 0.1583699882030487, 0.13748031854629517, 0.2014990895986557, 0.03481490910053253, 0.1459754854440689, 0.09809698164463043, 0.11985042691230774, 0.19798406958580017, 0.07626520097255707, 0.11926987767219543, 0.22779949009418488, 0.36812150478363037, 0.06477353721857071, 0.43889889121055603, 0.2887124717235565, 0.38669830560684204, 0.05935213342308998, 0.4439298212528229, 0.3315589725971222, 0.020565755665302277, 0.40687939524650574, 0.08646351099014282, 0.3943123519420624, 0.3154553771018982, 3.2384341466240585e-05, 1.73187017935561e-05, 0.02083824761211872, 0.0035980225075036287, 0.011196856386959553, 0.0339178703725338, 0.03623911365866661], "count": [1562]}, "observation.state.tcp_pose": {"min": [0.36198586225509644, 0.19247636198997498, 0.9501179456710815, -1.208519697189331, 1.2174021005630493, -1.4260796308517456, 0.3330024182796478, -0.22631360590457916, 0.888542115688324, 0.0815923884510994, 1.2184205055236816, 0.8180637955665588], "max": [0.4917469322681427, 0.27182334661483765, 1.0517793893814087, -0.9095234870910645, 1.7409112453460693, -1.228967308998108, 0.5058053731918335, -0.02400295063853264, 1.0517433881759644, 1.3488339185714722, 2.2173192501068115, 1.4392839670181274], "mean": [0.478529691696167, 0.24619121849536896, 0.9793625473976135, -1.1017032861709595, 1.557527780532837, -1.3680429458618164, 0.37669140100479126, -0.12424302846193314, 0.9169408679008484, 0.2745230495929718, 1.8989903926849365, 1.055749535560608], "std": [0.015329510904848576, 0.01249740831553936, 0.01721859537065029, 0.05551408231258392, 0.12728223204612732, 0.041254110634326935, 0.037198085337877274, 0.05157468095421791, 0.030527835711836815, 0.2326388955116272, 0.17805586755275726, 0.12903718650341034], "count": [1562]}, "action.tcp_pose": {"min": [0.3625703454017639, 0.19252321124076843, 0.9516873359680176, -1.2085610628128052, 1.2204337120056152, -1.4268053770065308, 0.33294782042503357, -0.22682654857635498, 0.8885641694068909, 0.08138895034790039, 1.2229747772216797, 0.8171963691711426], "max": [0.49063876271247864, 0.27304425835609436, 1.0509119033813477, -0.9099214673042297, 1.7413661479949951, -1.2299331426620483, 0.5059855580329895, -0.023822953924536705, 1.0509746074676514, 1.3497027158737183, 2.218122959136963, 1.4554443359375], "mean": [0.4786011576652527, 0.24617162346839905, 0.9793103933334351, -1.101702094078064, 1.5574369430541992, -1.367817997932434, 0.3767588436603546, -0.12437240779399872, 0.917011022567749, 0.27344003319740295, 1.898105263710022, 1.0560271739959717], "std": [0.015363277867436409, 0.012492784298956394, 0.016817687079310417, 0.05516691505908966, 0.12718075513839722, 0.04205000028014183, 0.037322524935007095, 0.051581379026174545, 0.03056987002491951, 0.231495201587677, 0.17912696301937103, 0.13040751218795776], "count": [1562]}, "subtask_index": {"min": [546], "max": [581], "mean": [562.1389244558259], "std": [10.66690567559854], "count": [1562]}, "observation.tactile": {"min": [-0.026975691318511963, -3.7835892726434395e-05, -8.761762728681788e-05, -0.0011541277635842562, -0.0002726323145907372, -0.000377541349735111, -0.006734597962349653, -2.2053458451409824e-05, -4.5188047806732357e-05, -0.0011532738571986556, -1.910373794089537e-05, -0.00016276990936603397, -0.01667546108365059, -3.487511639832519e-05, -7.664345321245492e-05, -0.0011708532692864537, -3.254879993619397e-05, -0.0003445104812271893, -0.4575844705104828, -3.1815619877306744e-05, -7.070817810017616e-05, -0.0012806792510673404, -0.00017576009850017726, -0.00651710107922554, -0.0019878391176462173, -5.0611881306394935e-05, -0.00011392225860618055, -0.0006265781121328473, -9.002244041766971e-06, -4.980166704626754e-05, -2.282480478286743, -3.951563485316001e-05, -8.76790436450392e-05, -0.17712156474590302, -0.016826335340738297, -0.05040688440203667, -5.219341278076172, 0.0, 0.0, -0.31858059763908386, -0.03475211188197136, -0.11460362374782562, -0.006550880149006844, -4.939647260471247e-05, -0.00011067795276176184, -0.0010601498652249575, -3.3165531931445e-05, -0.00014772755093872547, -0.01463563833385706, -4.40514886577148e-05, -9.739540109876543e-05, -0.001359660760499537, -6.592216959688812e-05, -0.00033338472712785006, -0.008935811929404736, -4.0943428757600486e-05, -9.157837484963238e-05, -0.0010143157560378313, -4.885714588453993e-05, -0.00020604615565389395], "max": [0.001758021186105907, 0.021740859374403954, 0.06606051325798035, 1.7179162341562915e-06, 4.7475383325945586e-05, 1.9522287402651273e-05, 0.014878680929541588, 0.01798444613814354, 0.058094918727874756, 8.346680147042207e-07, 0.0003278392250649631, 0.00014420817024074495, 0.020035186782479286, 0.01979001984000206, 0.057218994945287704, 1.4228457985154819e-06, 9.76904048002325e-05, 0.00028537330217659473, 0.022956902161240578, 0.023963894695043564, 0.08797230571508408, 1.3038577435509069e-06, 0.00021378188102971762, 0.0003777343372348696, 0.028130248188972473, 0.010039515793323517, 0.028703194111585617, 2.145330881830887e-06, 7.851059490349144e-05, 0.00046595477033406496, 5.459908962249756, 5.427778720855713, 8.274714469909668, 1.6144149412866682e-06, 0.017922863364219666, 0.11308351159095764, 3.059264659881592, 9.642314910888672, 18.352706909179688, 0.0, 0.0052885329350829124, 0.07981379330158234, 0.016210459172725677, 0.01919844187796116, 0.06095506623387337, 2.0209715785313165e-06, 0.000354119052644819, 0.0001610702311154455, 0.006803520489484072, 0.020712511613965034, 0.05905197560787201, 1.808359002097859e-06, 0.0001471169089199975, 6.578469765372574e-05, 0.003157193074002862, 0.015537817031145096, 0.044470224529504776, 1.6782660168246366e-06, 0.00013351826055441052, 4.85930941067636e-05], "mean": [-0.0015274710021913052, 0.0040096985176205635, 0.011777780950069427, -0.00021291668235789984, -3.5253997339168563e-06, -2.617964673845563e-05, 4.22122138843406e-05, 0.0016445869114249945, 0.004877928644418716, -8.448961307294667e-05, 1.882487595139537e-05, -5.812042672914686e-06, -0.000558013969566673, 0.001640035887248814, 0.004789486527442932, -8.93963806447573e-05, 9.730286365083884e-06, -1.3532882803701796e-05, -0.00039161479799076915, 0.0008102552965283394, 0.002373803872615099, -4.2098636185983196e-05, 9.881799996946938e-06, -7.042532615741948e-06, 0.00024828006280586123, 0.0006411782815121114, 0.001893704873509705, -4.002378773293458e-05, 3.3674161841190653e-06, 3.191502401023172e-06, 0.5606391429901123, 1.2615622282028198, 1.5861835479736328, -0.031377725303173065, 0.0016690040938556194, 0.010216951370239258, -0.3689514994621277, 2.008589506149292, 3.9506757259368896, -0.08059123158454895, -0.005703409668058157, -0.004969544243067503, 0.00020273080735933036, 0.002151998458430171, 0.006359598133713007, -0.00012412820069584996, 1.8787097360473126e-05, -5.179590061743511e-06, -0.00030363068799488246, 0.0021144982893019915, 0.006169504020363092, -0.0001141357424785383, 4.293008259992348e-06, -7.362172254943289e-06, -0.0005000046221539378, 0.0030502998270094395, 0.008821610361337662, -0.00018703316163737327, 1.4210312656359747e-05, -1.583412813488394e-05], "std": [0.002148247556760907, 0.00335165997967124, 0.009858906269073486, 0.00017907703295350075, 2.5290220946772024e-05, 3.572538844309747e-05, 0.0013539963401854038, 0.002643803833052516, 0.00797354243695736, 0.00014619437570217997, 3.6791239836020395e-05, 2.0615290850400925e-05, 0.0016416044672951102, 0.002693883841857314, 0.007808123715221882, 0.00014945902512408793, 1.9027093003387563e-05, 3.40836813848e-05, 0.015612860210239887, 0.002009286545217037, 0.005942255724221468, 0.00010262772411806509, 2.983721424243413e-05, 0.00022061364143155515, 0.0013550452422350645, 0.001420369022525847, 0.004054936580359936, 8.629277726868168e-05, 9.854761628957931e-06, 2.342430525459349e-05, 1.1746904850006104, 1.7562295198440552, 2.1428451538085938, 0.04295364394783974, 0.005411948077380657, 0.023792902007699013, 1.2640366554260254, 2.604098081588745, 5.218705177307129, 0.10331390053033829, 0.009053971618413925, 0.02505304478108883, 0.001686949748545885, 0.0032474256586283445, 0.0096114007756114, 0.0001824211358325556, 4.323048051446676e-05, 2.4052693333942443e-05, 0.001233267248608172, 0.003640248905867338, 0.010564076714217663, 0.00021298568753991276, 1.6716667232685722e-05, 2.6912244720733725e-05, 0.0011976700043305755, 0.003256660420447588, 0.009382901713252068, 0.00020310167747084051, 2.398386459390167e-05, 2.449572457408067e-05], "count": [1562]}, "timestamp": {"min": [0.0], "max": [52.03333333333333], "mean": [26.016666666666666], "std": [15.030348927715846], "count": [1562]}, "frame_index": {"min": [0], "max": [1561], "mean": [780.5], "std": [450.9104678314754], "count": [1562]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [1562]}, "index": {"min": [29830], "max": [31391], "mean": [30610.5], "std": [450.9104678314754], "count": [1562]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1562]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5430561900138855]], [[0.5428788065910339]], [[0.5447074174880981]]], "std": [[[0.3012145161628723]], [[0.3013748824596405]], [[0.3022622764110565]]], "count": [1562]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25112879276275635]], [[0.2514047622680664]], [[0.250943124294281]]], "std": [[[0.1567162275314331]], [[0.157887265086174]], [[0.1570536196231842]]], "count": [1562]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.19291925430297852]], [[0.1943138688802719]], [[0.19317790865898132]]], "std": [[[0.13250115513801575]], [[0.13411922752857208]], [[0.13763314485549927]]], "count": [1562]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5447907447814941]], [[0.5447561740875244]], [[0.5464687943458557]]], "std": [[[0.3011040985584259]], [[0.3012751042842865]], [[0.30272307991981506]]], "count": [1562]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6078431606292725]], [[0.6078431606292725]], [[0.6078431606292725]]], "mean": [[[0.0014064377173781395]], [[0.0014064377173781395]], [[0.0014064377173781395]]], "std": [[[0.02216986194252968]], [[0.02216986194252968]], [[0.02216986194252968]]], "count": [1562]}, "observation.images.tactile_raw": {"min": [[[0.027450980618596077]], [[0.027450980618596077]], [[0.027450980618596077]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4680076241493225]], [[0.4680076241493225]], [[0.4680076241493225]]], "std": [[[0.23511821031570435]], [[0.23511821031570435]], [[0.23511821031570435]]], "count": [1562]}}}
+{"episode_index": 19, "stats": {"observation.state": {"min": [1.0499765872955322, -0.7800225019454956, -0.15228822827339172, 0.9898842573165894, -0.0931454747915268, -0.7700510025024414, 0.5199750065803528, 0.0062875603325665, -0.2261071801185608, 0.0004191510961391032, 0.002694080350920558, 0.003092497354373336, -0.02703239768743515, -0.010638050734996796, 0.0034708159510046244, 0.0008487114100717008, -0.1743023544549942, -0.014464214444160461, 0.0034523785579949617, 0.0008451640023849905, -0.14463379979133606, -0.035834264010190964, 0.006833135616034269, 0.0008088033646345139, 0.005541193764656782, -0.14352843165397644, -0.038412030786275864, 0.003536055563017726, 0.00085270224371925, 0.9484817981719971, -0.7797796726226807, -0.23039469122886658, 0.879419207572937, -1.1469217538833618, -0.7695613503456116, -0.05784185975790024, 0.007317599840462208, -0.24871814250946045, 0.00305451569147408, -0.20815329253673553, 0.003465143032371998, 0.005093703977763653, -0.11273413896560669, 0.0031222805846482515, 0.0007786505739204586, 0.0036799581721425056, -0.0020363531075417995, 0.002596818609163165, 0.0008584667230024934, -0.0017841700464487076, -0.019261088222265244, 0.003527900669723749, 0.000874873367138207, 0.005580796394497156, -0.06695900112390518, -0.035615939646959305, 0.003483225591480732, 0.0008952707867138088, 0.5618204474449158, -1.1072465181350708, 0.5450425744056702, -0.017736652866005898, -0.06049636751413345, 0.0001917476038215682, -0.8728350400924683], "max": [1.230796217918396, -0.5877534747123718, 7.669903425266966e-06, 1.5700099468231201, 3.858920172206126e-05, -0.1537550985813141, 0.6981670260429382, 1.184376835823059, -0.0004507894045673311, 0.2918563485145569, 0.31381282210350037, 0.47963279485702515, 0.7201806902885437, 0.05927209556102753, 0.16465546190738678, 0.2997520864009857, 0.4250357747077942, 0.10729503631591797, 0.09891984611749649, 0.022289982065558434, 0.15172338485717773, 0.07845417410135269, 0.1270572543144226, 0.32757067680358887, 0.005863368511199951, 0.0787951648235321, 0.0005745257949456573, 0.1347200572490692, 0.11941555142402649, 1.2905884981155396, -0.23251114785671234, -0.0003664775867946446, 1.5695103406906128, 0.10579398274421692, -0.06579950451850891, 0.519804835319519, 1.5030920505523682, 0.00017272720288019627, 0.7297067642211914, 0.31457194685935974, 0.33499985933303833, 1.0315353870391846, 0.27304768562316895, 0.5478588938713074, 0.8819082379341125, 1.4686859846115112, 0.2839335501194, 1.6556798219680786, 1.3082332611083984, 1.4684715270996094, 0.26468512415885925, 1.6548629999160767, 1.3082358837127686, 0.06985735893249512, 1.4668049812316895, 0.3145901560783386, 1.6553019285202026, 1.3082166910171509, 0.5631626844406128, -1.1060001850128174, 0.661912739276886, 0.009970875456929207, -0.0006711165769957006, 0.20229372382164001, -0.5998823642730713], "mean": [1.1721879243850708, -0.6585736870765686, -0.14058703184127808, 1.0278816223144531, -0.06986963003873825, -0.2576296925544739, 0.6017985343933105, 1.129673719406128, -0.20738503336906433, 0.16298198699951172, 0.2909124195575714, 0.4633405804634094, 0.42789915204048157, 0.042337898164987564, 0.12537141144275665, 0.28447356820106506, 0.1699644923210144, 0.06751716881990433, 0.053418632596731186, 0.017897989600896835, 0.06423302739858627, 0.025153623893857002, 0.05390371382236481, 0.30978986620903015, 0.005719595123082399, 0.010591630823910236, -0.030457468703389168, 0.02937706746160984, 0.024714088067412376, 1.0407012701034546, -0.548425555229187, -0.219057098031044, 1.336057186126709, -1.043209433555603, -0.5105643272399902, 0.09508083015680313, 1.3119184970855713, -0.18355503678321838, 0.4630391597747803, -0.03185763210058212, 0.12233047932386398, 0.8629457354545593, 0.19573569297790527, 0.0728791207075119, 0.6284248232841492, 1.3428009748458862, 0.194160595536232, 1.5007039308547974, 1.1579132080078125, 1.3370100259780884, 0.17239728569984436, 1.5029447078704834, 1.1813037395477295, 0.06255125254392624, 1.3261816501617432, 0.28023406863212585, 1.5273782014846802, 1.2073360681533813, 0.5623056888580322, -1.1068556308746338, 0.6430586576461792, -0.01389235444366932, -0.04079476743936539, 0.1662205159664154, -0.856221616268158], "std": [0.02485465072095394, 0.02296941541135311, 0.023743467405438423, 0.09006120264530182, 0.015395992435514927, 0.10953975468873978, 0.04513818025588989, 0.1845451295375824, 0.03588416799902916, 0.06901759654283524, 0.05020453408360481, 0.07972384244203568, 0.23020710051059723, 0.011608188040554523, 0.0417875312268734, 0.049386583268642426, 0.17503736913204193, 0.023534586653113365, 0.02422473393380642, 0.005366960074752569, 0.07174012064933777, 0.0254641305655241, 0.029705999419093132, 0.05439576134085655, 6.140019104350358e-05, 0.05584318935871124, 0.008107119239866734, 0.041084934026002884, 0.03659793734550476, 0.06431256979703903, 0.10536013543605804, 0.0348188653588295, 0.1632338911294937, 0.29650747776031494, 0.11117467284202576, 0.13446934521198273, 0.2161078155040741, 0.041559405624866486, 0.16626019775867462, 0.09359565377235413, 0.08041959255933762, 0.22647003829479218, 0.0787670686841011, 0.06662223488092422, 0.2648811638355255, 0.38779568672180176, 0.060885269194841385, 0.47125229239463806, 0.37272077798843384, 0.4008178412914276, 0.05876126140356064, 0.4668092429637909, 0.3709246516227722, 0.0182289220392704, 0.4267820417881012, 0.08695011585950851, 0.41424334049224854, 0.32622745633125305, 9.062017488759011e-05, 8.894747588783503e-05, 0.018465902656316757, 0.0055913240648806095, 0.007142994552850723, 0.038322243839502335, 0.056944359093904495], "count": [1174]}, "observation.state.joint_torque": {"min": [-41.85900115966797, -2.430000066757202, -17.312999725341797, -5.7779998779296875, -0.37119999527931213, -0.5, 0.848800003528595, -0.9602397680282593, -0.44191405177116394, -0.23486833274364471, -0.3690788149833679, -0.11787818372249603, -0.3454071283340454, -0.2820824682712555, -0.09961536526679993, -0.03424813970923424, -0.2916771173477173, -0.2177983820438385, -0.06807050108909607, -0.03139413148164749, -0.44423195719718933, -0.4288804829120636, -0.10127562284469604, -0.04851820319890976, -0.0013194032944738865, -0.4164074957370758, -0.29455551505088806, -0.07471152395009995, -0.03710215538740158, 0.11999999731779099, -19.804500579833984, -8.767000198364258, -15.866000175476074, -2.1775999069213867, -5.681600093841553, -3.3064000606536865, -1.3270156383514404, -0.8494428396224976, -0.5032892823219299, -0.9755113124847412, -0.11953844130039215, -0.5833542943000793, -0.9076531529426575, -0.14610254764556885, -0.21333740651607513, -0.6649087071418762, -0.4279210567474365, -0.151083305478096, -0.13841956853866577, -1.0707621574401855, -0.25425800681114197, -0.09961536526679993, -0.12914402782917023, -0.14381495118141174, -1.4209665060043335, -0.442313015460968, -0.49143579602241516, -0.09917692095041275, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-10.225500106811523, 12.493499755859375, -2.4539999961853027, 2.4690001010894775, 1.8215999603271484, 1.5191999673843384, 3.41759991645813, 0.5870962142944336, 0.329843670129776, 0.6188594102859497, 0.613888680934906, 0.11289741843938828, 0.41544800996780396, 0.2177983820438385, 0.10957689583301544, 0.02354559674859047, 0.4567049741744995, 0.18613606691360474, 0.06973075866699219, 0.01783757284283638, 0.3271773159503937, 0.5440162420272827, 0.1145576685667038, 0.02354559674859047, 0.0021990055684000254, 0.31854212284088135, 0.23602819442749023, 0.09629485011100769, 0.019264578819274902, 47.20800018310547, 16.535999298095703, 18.299999237060547, 4.401000022888184, 0.5023999810218811, 2.8703999519348145, 5.349599838256836, 2.5063021183013916, 3.3328213691711426, 2.051680564880371, 1.68632972240448, 0.5495447516441345, 2.1434431076049805, 2.137686252593994, 1.0559228658676147, 0.21405088901519775, 0.7752470970153809, 0.5372999906539917, 0.5263011455535889, 0.07491781562566757, 1.4833317995071411, 0.2561769485473633, 0.10459613054990768, 0.08205283433198929, 0.1213851049542427, 0.6524356603622437, 0.5353810787200928, 0.19258970022201538, 0.16267867386341095, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.693771362304688, 4.063517093658447, -11.776631355285645, -1.612623929977417, 0.23587839305400848, 0.20369429886341095, 2.074671983718872, 0.036794573068618774, -0.024658046662807465, 0.10552603006362915, 0.007027477491647005, 0.00028990732971578836, 0.06257611513137817, 0.007852240465581417, 0.006964879110455513, 0.0009468804928474128, 0.07319549471139908, -0.02901272475719452, 0.006410508882254362, -0.0006265945849008858, 0.04629042372107506, 0.043359771370887756, 0.0020958208478987217, 0.0014665104681625962, 3.1467869121115655e-05, 0.04220005124807358, 0.0029928095173090696, 0.004614494275301695, -0.002770136808976531, 22.20168685913086, 1.3769924640655518, 9.893831253051758, -5.1489715576171875, -0.634428083896637, 1.007978916168213, -1.0447907447814941, 0.19087505340576172, 0.5108494758605957, 0.24465544521808624, 0.12850287556648254, 0.06862202286720276, 0.5750764608383179, -0.0779380351305008, 0.2860884666442871, 0.0592438280582428, 0.004534958396106958, -0.016468601301312447, 0.0007042644429020584, -0.00044244457967579365, 0.0017080700490623713, -0.0164939034730196, -8.486484148306772e-06, -0.0010331817902624607, 0.00047577026998624206, 0.009057709015905857, -0.01462487317621708, 0.0006448702770285308, 0.0014361214125528932, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.4188569784164429, 0.9905424118041992, 0.7555129528045654, 0.7162997126579285, 0.2648294270038605, 0.2623026669025421, 0.2056216299533844, 0.10391395539045334, 0.06932057440280914, 0.09573091566562653, 0.08217783272266388, 0.011996222659945488, 0.07011845707893372, 0.05029861629009247, 0.018920671194791794, 0.005033966153860092, 0.0764898881316185, 0.04950939118862152, 0.014163875952363014, 0.006538029294461012, 0.08347418159246445, 0.10362453758716583, 0.02495240606367588, 0.006998852360993624, 0.0003361860872246325, 0.07344057410955429, 0.04821288585662842, 0.013226241804659367, 0.013095022179186344, 4.556787967681885, 2.268228769302368, 2.73036789894104, 1.940807580947876, 0.20137009024620056, 0.9924594163894653, 1.0471049547195435, 0.657019853591919, 0.7658800482749939, 0.4446731507778168, 0.3564976155757904, 0.1153644397854805, 0.7951925992965698, 0.37911084294319153, 0.3713582456111908, 0.09817738831043243, 0.0577484592795372, 0.06940389424562454, 0.018334707245230675, 0.010538657195866108, 0.07072702050209045, 0.06977231800556183, 0.010892413556575775, 0.010019521228969097, 0.01896946132183075, 0.07378994673490524, 0.06842285394668579, 0.023405319079756737, 0.007588259410113096, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1174]}, "observation.state.tcp": {"min": [0.36204272508621216, 0.18905307352542877, 0.9600405693054199, -1.2098191976547241, 1.1756787300109863, -1.38175368309021, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.28751784563064575, -0.23521694540977478, 0.892595648765564, -0.06054376810789108, 1.2179285287857056, 0.7331328392028809, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4867672622203827, 0.26035812497138977, 1.0514029264450073, -0.8354067802429199, 1.4864838123321533, -1.209979772567749, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4959554970264435, -0.01975668966770172, 1.051201581954956, 1.2818485498428345, 2.093378782272339, 1.3714081048965454, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.47639212012290955, 0.24735820293426514, 0.9821661114692688, -1.0135130882263184, 1.377817988395691, -1.338300347328186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3447166681289673, -0.12469291687011719, 0.9243064522743225, 0.21144859492778778, 1.8744310140609741, 0.9697353839874268, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.018395839259028435, 0.012051058933138847, 0.016261529177427292, 0.06326943635940552, 0.06666233390569687, 0.03272320702672005, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04427056387066841, 0.04390935227274895, 0.03133830428123474, 0.273377925157547, 0.17102254927158356, 0.12071017920970917, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1174]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.15234579145908356, 0.9889245629310608, -0.0931907594203949, -0.7699999809265137, 0.5199999809265137, 0.0, -0.23334604501724243, 0.0, 0.0, 0.0, -0.058685991913080215, -0.016479559242725372, 0.0, 0.0, -0.1745329201221466, -0.02395779639482498, 0.0, 0.0, -0.17172934114933014, -0.06710106879472733, 0.0, 0.0, 0.0, -0.15055616199970245, -0.18934017419815063, 0.0, 0.0, 0.948494017124176, -0.7795137763023376, -0.23038825392723083, 0.8794254660606384, -1.146859884262085, -0.7693666815757751, -0.05791632831096649, 0.0, -0.2524164617061615, 0.0, -0.20899397134780884, -0.17127278447151184, 0.0, -0.1118740513920784, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.027888603508472443, 0.0, 0.0, 0.0, -0.0669582337141037, -0.04054410010576248, 0.0, 0.0, 0.5622998476028442, -1.1069588661193848, 0.5442397594451904, -0.0183101873844862, -0.06649059802293777, 0.0, -0.8728348016738892], "max": [1.230789065361023, -0.587446928024292, 0.0, 1.5700000524520874, 0.0, -0.1535346508026123, 0.785241425037384, 1.1890268325805664, 0.0, 0.3006884753704071, 0.33269280195236206, 0.4822549521923065, 0.7320855855941772, 0.05839770287275314, 0.1718461662530899, 0.3026159703731537, 0.4361501932144165, 0.10623877495527267, 0.1041191965341568, 0.02380526065826416, 0.15175816416740417, 0.08409207314252853, 0.1343332976102829, 0.32967185974121094, 0.01530144177377224, 0.08989530056715012, 0.0, 0.14200825989246368, 0.12183637171983719, 1.2907295227050781, -0.23250709474086761, -0.0005064012948423624, 1.5689064264297485, 0.10579096525907516, -0.06510122120380402, 0.5197463035583496, 1.5131036043167114, 0.0, 0.7373142242431641, 0.3490658402442932, 0.33829638361930847, 1.0693763494491577, 0.30306774377822876, 0.5547456741333008, 0.8976659774780273, 1.5707963705062866, 0.29041242599487305, 1.7453292608261108, 1.3601614236831665, 1.5707963705062866, 0.27008718252182007, 1.7453292608261108, 1.3962633609771729, 0.08062603324651718, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.6627669930458069, 0.010109617374837399, 0.0, 0.2023656964302063, -0.5999928116798401], "mean": [1.1721537113189697, -0.6584855318069458, -0.14058998227119446, 1.0277798175811768, -0.06987199187278748, -0.2576327919960022, 0.6028314232826233, 1.136211633682251, -0.21019721031188965, 0.1662774682044983, 0.29285356402397156, 0.46541813015937805, 0.43243059515953064, 0.042135726660490036, 0.1298748105764389, 0.28727278113365173, 0.17440852522850037, 0.06805519014596939, 0.0548740029335022, 0.019894933328032494, 0.06878794729709625, 0.026756614446640015, 0.05488719046115875, 0.3124396800994873, 0.008479589596390724, 0.015886299312114716, -0.08917117863893509, 0.0327632762491703, 0.02527901716530323, 1.0406885147094727, -0.5484979152679443, -0.21907758712768555, 1.3358649015426636, -1.0439469814300537, -0.5102953910827637, 0.09483909606933594, 1.3119091987609863, -0.18162816762924194, 0.46202921867370605, -0.03001777082681656, 0.1097281351685524, 0.8687576055526733, 0.19953204691410065, 0.07508928328752518, 0.6422839760780334, 1.4354848861694336, 0.19363521039485931, 1.5843862295150757, 1.1649051904678345, 1.4287739992141724, 0.1714104861021042, 1.589904546737671, 1.2247498035430908, 0.07060999423265457, 1.4236148595809937, 0.28646475076675415, 1.6059190034866333, 1.2847175598144531, 0.5623084902763367, -1.1069437265396118, 0.6431023478507996, -0.013932907022535801, -0.040844179689884186, 0.16624562442302704, -0.856171727180481], "std": [0.024674560874700546, 0.023033874109387398, 0.02375803329050541, 0.09038673341274261, 0.01540219597518444, 0.10971293598413467, 0.047963131219148636, 0.2038947343826294, 0.04076727107167244, 0.07141298800706863, 0.05636967718601227, 0.0885351151227951, 0.23582440614700317, 0.012277524918317795, 0.045038625597953796, 0.05472588166594505, 0.17932568490505219, 0.02407105080783367, 0.027023080736398697, 0.006330700591206551, 0.07460995763540268, 0.028596941381692886, 0.0335819311439991, 0.05978919193148613, 0.006047835107892752, 0.06003889441490173, 0.04571828618645668, 0.04215482622385025, 0.03780118376016617, 0.06409945338964462, 0.10511748492717743, 0.034786056727170944, 0.16358602046966553, 0.2950831353664398, 0.11213338375091553, 0.13403405249118805, 0.23313197493553162, 0.044512368738651276, 0.1697915941476822, 0.10096617043018341, 0.10711873322725296, 0.2350068837404251, 0.08408059179782867, 0.06906244903802872, 0.269728422164917, 0.4252502918243408, 0.0622326135635376, 0.4979614317417145, 0.372590035200119, 0.43676668405532837, 0.06074533611536026, 0.49263760447502136, 0.38797152042388916, 0.022506725043058395, 0.458808034658432, 0.09286388754844666, 0.4513642191886902, 0.3610941469669342, 5.5380703997798264e-05, 1.803876511985436e-05, 0.018805930390954018, 0.005640094168484211, 0.007464003283530474, 0.038597121834754944, 0.05728845298290253], "count": [1174]}, "observation.state.tcp_pose": {"min": [0.36204272508621216, 0.18905307352542877, 0.9600405693054199, -1.2098191976547241, 1.1756787300109863, -1.38175368309021, 0.28751784563064575, -0.23521694540977478, 0.892595648765564, -0.06054376810789108, 1.2179285287857056, 0.7331328392028809], "max": [0.4867672622203827, 0.26035812497138977, 1.0514029264450073, -0.8354067802429199, 1.4864838123321533, -1.209979772567749, 0.4959554970264435, -0.01975668966770172, 1.051201581954956, 1.2818485498428345, 2.093378782272339, 1.3714081048965454], "mean": [0.47639212012290955, 0.24735820293426514, 0.9821661114692688, -1.0135130882263184, 1.377817988395691, -1.338300347328186, 0.3447166681289673, -0.12469291687011719, 0.9243064522743225, 0.21144859492778778, 1.8744310140609741, 0.9697353839874268], "std": [0.018395839259028435, 0.012051058933138847, 0.016261529177427292, 0.06326943635940552, 0.06666233390569687, 0.03272320702672005, 0.04427056387066841, 0.04390935227274895, 0.03133830428123474, 0.273377925157547, 0.17102254927158356, 0.12071017920970917], "count": [1174]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.18499048054218292, 0.9622024297714233, -1.208855390548706, 1.1154637336730957, -1.3831524848937988, 0.2875320017337799, -0.23429791629314423, 0.8927231431007385, -0.060800619423389435, 1.218819499015808, 0.7326127886772156], "max": [0.4848994016647339, 0.2600443363189697, 1.0518032312393188, -0.7717089056968689, 1.486742377281189, -1.2226101160049438, 0.49610230326652527, -0.019977573305368423, 1.0516347885131836, 1.2896865606307983, 2.0931832790374756, 1.3725429773330688], "mean": [0.47635751962661743, 0.24730132520198822, 0.9822102785110474, -1.0127190351486206, 1.3771036863327026, -1.3388539552688599, 0.3446957468986511, -0.12478630244731903, 0.924263596534729, 0.21078252792358398, 1.8747776746749878, 0.9693052172660828], "std": [0.01847362145781517, 0.012127400375902653, 0.01621762104332447, 0.06497346609830856, 0.06849496811628342, 0.03170525282621384, 0.0442584864795208, 0.04388348013162613, 0.0311563890427351, 0.2729525566101074, 0.17031355202198029, 0.12038391828536987], "count": [1174]}, "subtask_index": {"min": [64], "max": [606], "mean": [585.4863713798978], "std": [67.28422057929026], "count": [1174]}, "observation.tactile": {"min": [-0.0431237518787384, -3.2812200515763834e-05, -7.460852066287771e-05, -0.0017059253295883536, -0.0003993858117610216, -0.0007397967856377363, -0.007681825198233128, -2.401027813903056e-05, -4.9165613745572045e-05, -0.0015908764908090234, -1.1755692867154721e-05, -0.00017033310723491013, -0.004866041708737612, -3.3420299587305635e-05, -7.392527913907543e-05, -0.0007481991779059172, -2.4279044737340882e-05, -0.0001249899505637586, -0.008167975582182407, -3.2444433600176126e-05, -7.143089169403538e-05, -0.0009944855701178312, -4.59165166830644e-05, -0.0001713133096927777, -0.003161829663440585, -5.7372060837224126e-05, -0.00013150303857401013, -0.00087444280507043, -2.9994275791977998e-06, -7.163788541220129e-05, -2.1008710861206055, -4.3156098399776965e-05, -9.571058762958273e-05, -0.17849943041801453, -0.015289312228560448, -0.054801154881715775, -4.10184383392334, 0.0, 0.0, -0.3258627951145172, -0.03129178658127785, -0.08118676394224167, -0.005980209913104773, -4.889807678409852e-05, -0.0001085784679162316, -0.0023783352226018906, -1.989057273021899e-05, -0.0001432911230949685, -0.014088856987655163, -4.086758417543024e-05, -8.843356044963002e-05, -0.0015479756984859705, -8.609117503510788e-05, -0.00033230235567316413, -0.009462079964578152, -4.309514770284295e-05, -9.541847975924611e-05, -0.0011733373394235969, -8.054861973505467e-05, -0.00018004198500420898], "max": [0.00025830406229943037, 0.03065727837383747, 0.09153115749359131, 1.416234454154619e-06, 2.9221004297141917e-05, 5.513680662261322e-06, 0.0526973158121109, 0.029140494763851166, 0.09492960572242737, 9.022371614264557e-07, 0.00047088685096241534, 0.0007455364102497697, 0.005519752856343985, 0.015031633898615837, 0.04282616078853607, 1.3904273146181367e-06, 0.00014434166951104999, 6.854337698314339e-05, 0.005349461454898119, 0.017512310296297073, 0.05084218457341194, 1.3195458450354636e-06, 0.0001895382156362757, 4.9750036851037294e-05, 0.0023711337707936764, 0.0171296875923872, 0.04769275709986687, 2.5126171294687083e-06, 4.9412177759222686e-05, 4.897502367384732e-05, 4.8020920753479, 7.256027698516846, 8.036076545715332, 1.7723142491377075e-06, 0.02506893314421177, 0.09612197428941727, 5.239025115966797, 12.232162475585938, 16.09787368774414, 0.0, 0.003913517575711012, 0.10939517617225647, 0.06603600084781647, 0.04443276301026344, 0.13441042602062225, 2.0042687083332567e-06, 0.0007858969620428979, 0.0009497833671048284, 0.010081577114760876, 0.02476935274899006, 0.07332172989845276, 1.5993787201296072e-06, 0.00024216252495534718, 0.00012961277388967574, 0.0009294674964621663, 0.020604174584150314, 0.05560795217752457, 1.7881983467304963e-06, 6.128253880888224e-05, 7.235421890072757e-06], "mean": [-0.008282896131277084, 0.006953627802431583, 0.0200360044836998, -0.00036199085297994316, -7.996667409315705e-05, -0.00012095031706849113, 0.0011890054447576404, 0.0037046456709504128, 0.011220658197999, -0.00019620078091975302, 5.653667540173046e-05, 2.1532014216063544e-06, -0.0003637082118075341, 0.001228918437846005, 0.003569849068298936, -5.3695901442551985e-05, 2.5130834728770424e-06, -5.270001111057354e-06, -0.0004577864601742476, 0.0014697159640491009, 0.0042989542707800865, -8.706973312655464e-05, 8.391677397412423e-07, -1.0007102900999598e-05, 0.00017554048099555075, 0.000972860842011869, 0.002831706078723073, -5.800127109978348e-05, 2.267050604132237e-06, 2.719909616644145e-06, 0.6745504140853882, 1.6929177045822144, 2.1092162132263184, -0.03990761935710907, 0.0020075233187526464, 0.011979347094893456, -0.875117301940918, 2.5903358459472656, 4.3643927574157715, -0.09521078318357468, -0.006301735527813435, -0.01493897009640932, 0.010484213940799236, 0.011895309202373028, 0.0370589978992939, -0.0006665181135758758, 0.00020735786529257894, 0.00012170457193860784, -0.0017533684149384499, 0.004723034333437681, 0.013918447308242321, -0.00024001006386242807, 3.7757549762318376e-06, -3.5306184145156294e-05, -0.0008697340381331742, 0.0022879717871546745, 0.00662140641361475, -0.00012915268598590046, 2.0110304888021346e-07, -1.7210293663083576e-05], "std": [0.008751073852181435, 0.006651742849498987, 0.019420200958848, 0.0003554630384314805, 8.035693463170901e-05, 0.00013464386574923992, 0.004115870222449303, 0.004818725399672985, 0.014989697374403477, 0.00026289495872333646, 8.114337833831087e-05, 5.439668893814087e-05, 0.0008296766900457442, 0.0019412520341575146, 0.005616008769720793, 8.71345546329394e-05, 1.4515362636302598e-05, 1.4269720850279555e-05, 0.0012707090936601162, 0.0025581500958651304, 0.007434352766722441, 0.0001548763975733891, 1.8269131032866426e-05, 2.4779297746135853e-05, 0.0004902915097773075, 0.0022068668622523546, 0.006303001660853624, 0.00012949413212481886, 8.267707016784698e-06, 1.1623274986050092e-05, 1.140398383140564, 2.0925586223602295, 2.4516921043395996, 0.04744396358728409, 0.006478704512119293, 0.02389487624168396, 1.4904648065567017, 3.0564701557159424, 4.928061485290527, 0.10639902204275131, 0.007891455665230751, 0.028325825929641724, 0.01241891086101532, 0.009386965073645115, 0.029570532962679863, 0.0005273290444165468, 0.00017346226377412677, 0.0001731109368847683, 0.0025609766598790884, 0.005025329068303108, 0.014810681343078613, 0.0002904194116126746, 2.5940022169379517e-05, 5.7844590628519654e-05, 0.0015166843077167869, 0.0030772651080042124, 0.008830721490085125, 0.00018412603822071105, 1.553776382934302e-05, 2.9719998565269634e-05], "count": [1174]}, "timestamp": {"min": [0.0], "max": [39.1], "mean": [19.55], "std": [11.29681616897237], "count": [1174]}, "frame_index": {"min": [0], "max": [1173], "mean": [586.5], "std": [338.9044850691711], "count": [1174]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1174]}, "index": {"min": [31392], "max": [32565], "mean": [31978.5], "std": [338.9044850691711], "count": [1174]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1174]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5424057841300964]], [[0.5421920418739319]], [[0.5443934202194214]]], "std": [[[0.30021533370018005]], [[0.30037644505500793]], [[0.3016025125980377]]], "count": [1174]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25289085507392883]], [[0.25337329506874084]], [[0.2527041733264923]]], "std": [[[0.1573493778705597]], [[0.15845265984535217]], [[0.15749697387218475]]], "count": [1174]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.19128164649009705]], [[0.19214195013046265]], [[0.19274212419986725]]], "std": [[[0.13073287904262543]], [[0.13176147639751434]], [[0.13560791313648224]]], "count": [1174]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5443214774131775]], [[0.5441794991493225]], [[0.5461896657943726]]], "std": [[[0.3004208505153656]], [[0.30056965351104736]], [[0.3023952543735504]]], "count": [1174]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6745098233222961]], [[0.6745098233222961]], [[0.6745098233222961]]], "mean": [[[0.0015710329171270132]], [[0.0015710329171270132]], [[0.0015710329171270132]]], "std": [[[0.023394513875246048]], [[0.023394513875246048]], [[0.023394513875246048]]], "count": [1174]}, "observation.images.tactile_raw": {"min": [[[0.0235294122248888]], [[0.0235294122248888]], [[0.0235294122248888]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4678797423839569]], [[0.4678797423839569]], [[0.4678797423839569]]], "std": [[[0.23496393859386444]], [[0.23496393859386444]], [[0.23496393859386444]]], "count": [1174]}}}
+{"episode_index": 20, "stats": {"observation.state": {"min": [1.0181772708892822, -0.7800195813179016, -0.14658348262310028, 0.980446457862854, -0.06382966041564941, -0.7700340747833252, 0.4064326286315918, 0.006222877651453018, -0.2407355159521103, 0.002578164916485548, 4.9623929953668267e-05, 0.0031077435705810785, -0.03196541965007782, -0.0005060831899754703, 0.003436777740716934, 0.0008456074283458292, -0.1260061264038086, -0.0001925714168464765, 0.003434650367125869, 0.000812794198282063, -0.08027809113264084, -0.016012638807296753, 0.003070869017392397, 0.0007879625190980732, 0.005189049057662487, -0.13257956504821777, -0.038088954985141754, 0.0035122998524457216, 0.0008602404268458486, 0.981801450252533, -0.779495894908905, -0.2291436493396759, 0.8792292475700378, -1.1829209327697754, -0.7692418694496155, -0.023310156539082527, 0.007259421516209841, -0.22049877047538757, 0.0030675847083330154, -0.259198397397995, 0.0034669155720621347, 0.0050664739683270454, -0.06503965705633163, 0.003120862413197756, 0.0007919532363303006, 0.003649048740044236, -0.012653796002268791, 0.002632629359140992, 0.0008730996632948518, -0.0022262262646108866, -0.025415776297450066, 0.0035335735883563757, 0.0008762036450207233, 0.0054823243990540504, -0.06800796091556549, -0.03742881119251251, 0.0034534423612058163, 0.0008855155319906771, 0.5620121955871582, -1.1070547103881836, 0.5443714261054993, -0.026748789474368095, -0.06174272671341896, 0.0, -0.8729309439659119], "max": [1.217163324356079, -0.6065637469291687, 7.070692390698241e-06, 1.5700048208236694, 3.535346331773326e-05, 0.024886321276426315, 0.6981660723686218, 1.2162671089172363, 1.879044430097565e-05, 0.4487331211566925, 0.3145897686481476, 0.4796221852302551, 0.7542444467544556, 0.15690000355243683, 0.21902944147586823, 0.2997756004333496, 0.643562912940979, 0.18640272319316864, 0.1772707998752594, 0.057868462055921555, 0.33117881417274475, 0.16635099053382874, 0.42034634947776794, 0.369209885597229, 0.0229097381234169, 0.42517781257629395, 0.08998174220323563, 0.730108380317688, 0.628187894821167, 1.3089121580123901, -0.10645933449268341, -0.0009046891354955733, 1.5689680576324463, 0.23123298585414886, 0.13808943331241608, 0.650857150554657, 1.5198678970336914, 0.00046831450890749693, 0.7371558547019958, 0.3165315091609955, 0.5296825170516968, 1.0064373016357422, 0.27884939312934875, 0.15428875386714935, 0.8745394349098206, 1.468996286392212, 0.27164769172668457, 1.655673861503601, 1.2891322374343872, 1.4686646461486816, 0.2325659543275833, 1.654844880104065, 1.3081821203231812, 0.07770943641662598, 1.468686819076538, 0.31458333134651184, 1.6553093194961548, 1.3081862926483154, 0.5627791881561279, -1.106191873550415, 0.6876068711280823, 0.013518205843865871, 0.010546118021011353, 0.21581192314624786, -0.5999782085418701], "mean": [1.1429866552352905, -0.6805955171585083, -0.13547851145267487, 1.0131961107254028, -0.05851924419403076, -0.1908855140209198, 0.5376556515693665, 1.1601850986480713, -0.1964435875415802, 0.19685477018356323, 0.2908886969089508, 0.46735402941703796, 0.6062770485877991, 0.09580030292272568, 0.15808051824569702, 0.2865716516971588, 0.46612274646759033, 0.12660729885101318, 0.1046014055609703, 0.035268593579530716, 0.20019398629665375, 0.097639299929142, 0.22611354291439056, 0.3457246422767639, 0.013400495052337646, 0.18558496236801147, 0.024661337956786156, 0.26856037974357605, 0.23143817484378815, 1.0659964084625244, -0.44563162326812744, -0.22118964791297913, 1.2202461957931519, -0.9906665682792664, -0.3784792423248291, 0.17681866884231567, 1.3351600170135498, -0.12287980318069458, 0.4718567132949829, -0.07988698780536652, 0.12204564362764359, 0.8238925933837891, 0.1977015733718872, 0.05185297876596451, 0.46834951639175415, 1.3817589282989502, 0.21692407131195068, 1.5484840869903564, 1.0692329406738281, 1.37668776512146, 0.17578648030757904, 1.5488159656524658, 1.0661853551864624, 0.06672707200050354, 1.3699357509613037, 0.28293755650520325, 1.5697745084762573, 1.2395923137664795, 0.5623041391372681, -1.1068438291549683, 0.6555901765823364, -0.013966681435704231, -0.011943794786930084, 0.17624162137508392, -0.8618434071540833], "std": [0.027636084705591202, 0.01926208660006523, 0.019655125215649605, 0.07894648611545563, 0.007923087105154991, 0.1193910539150238, 0.06667815148830414, 0.16509029269218445, 0.03761369735002518, 0.11318040639162064, 0.04504486918449402, 0.07000930607318878, 0.15663199126720428, 0.05893418937921524, 0.07304002344608307, 0.043554484844207764, 0.19291676580905914, 0.05507545545697212, 0.07276301831007004, 0.0235990509390831, 0.1289607584476471, 0.06417705118656158, 0.18482089042663574, 0.05461506173014641, 0.0061035118997097015, 0.18960101902484894, 0.051860544830560684, 0.2843768000602722, 0.24446265399456024, 0.04952450841665268, 0.16737020015716553, 0.028890177607536316, 0.1742047816514969, 0.24893099069595337, 0.19660554826259613, 0.1302507370710373, 0.19355253875255585, 0.03926719352602959, 0.15333890914916992, 0.10669656842947006, 0.1092236116528511, 0.2009788155555725, 0.0627177357673645, 0.038339387625455856, 0.2637708783149719, 0.3234871029853821, 0.05685208737850189, 0.3985235393047333, 0.2833331227302551, 0.3381687104701996, 0.05090835690498352, 0.3973097801208496, 0.2834438979625702, 0.017577728256583214, 0.3608262538909912, 0.07405245304107666, 0.3391096889972687, 0.2698162794113159, 7.071853178786114e-05, 7.000399637036026e-05, 0.02180502377450466, 0.006195213180035353, 0.012986358255147934, 0.036661699414253235, 0.04764906316995621], "count": [1767]}, "observation.state.joint_torque": {"min": [-41.39550018310547, -2.0625, -17.66699981689453, -6.585000038146973, -0.6047999858856201, -0.6935999989509583, 0.9535999894142151, -0.9194868206977844, -0.6494990587234497, -0.504531979560852, -0.35789456963539124, -0.12119869887828827, -0.3761099874973297, -0.3147042691707611, -0.17432688176631927, -0.03496164828538895, -0.4519076347351074, -0.3195015788078308, -0.3552948236465454, -0.032821137458086014, -0.44135352969169617, -0.47493481636047363, -0.36857688426971436, -0.04780469834804535, -0.12182490527629852, -0.7272738814353943, -0.7205576300621033, -0.6010127067565918, -0.12557652592658997, 2.05649995803833, -10.644000053405762, -8.038000106811523, -10.298999786376953, -2.0543999671936035, -5.631199836730957, -3.115999937057495, -1.1869275569915771, -0.6940724849700928, -0.6126459836959839, -1.2663006782531738, -0.15274357795715332, -0.4874078333377838, -0.9431533217430115, -0.15772433578968048, -0.12272251397371292, -0.8673556447029114, -0.41352909803390503, -0.34201276302337646, -0.11701448261737823, -0.8596799373626709, -0.5046781897544861, -0.1062563955783844, -0.12629002332687378, -0.15437018871307373, -1.365317702293396, -0.5334621071815491, -0.10791664570569992, -0.022832093760371208, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-11.526000022888184, 13.384499549865723, -3.4110000133514404, 1.5959999561309814, 1.8935999870300293, 1.434399962425232, 3.252000093460083, 0.6966195106506348, 0.5017698407173157, 0.5480260848999023, 0.6921781301498413, 0.10293588042259216, 0.30894747376441956, 0.2772851586341858, 0.11289741843938828, 0.016410568729043007, 0.4835699796676636, 0.14487910270690918, 0.10791664570569992, 0.02425910159945488, 0.442313015460968, 0.5315431952476501, 0.14610254764556885, 0.022118592634797096, 0.11214928328990936, 0.6207733750343323, 0.3626774847507477, 0.20089100301265717, 0.04281017929315567, 48.23849868774414, 17.024999618530273, 18.533000946044922, 5.894999980926514, 0.6815999746322632, 2.6112000942230225, 5.837600231170654, 2.4935667514801025, 3.610450506210327, 2.5288732051849365, 1.6018269062042236, 0.8052241802215576, 2.1463215351104736, 1.8143469095230103, 1.0575830936431885, 0.21333740651607513, 1.3624391555786133, 0.3195015788078308, 0.2291153371334076, 0.18836477398872375, 1.3662770986557007, 0.260974258184433, 0.3785383999347687, 0.15411663055419922, 0.12974132597446442, 1.1101001501083374, 0.4547860622406006, 0.21583329141139984, 0.08490685373544693, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.829179763793945, 4.611714839935303, -11.388338088989258, -1.5598106384277344, 0.2855778932571411, 0.1542433649301529, 2.0858869552612305, 0.020877426490187645, -0.031124690547585487, 0.05072168633341789, 0.002946724183857441, 0.00013530220894608647, 0.04103120043873787, 0.0062981476075947285, 0.006054732017219067, 0.0004469976993277669, 0.04915369674563408, -0.030965659767389297, 0.004239432513713837, 6.137738091638312e-05, 0.0433957502245903, 0.06247861310839653, 0.009187302552163601, -0.00045911435154266655, -0.0005107365432195365, 0.08195977658033371, 0.018818389624357224, 0.015121708624064922, 0.005618778057396412, 23.25963020324707, -0.07316678017377853, 9.817956924438477, -4.891796112060547, -0.5414318442344666, 0.8925241827964783, -1.1191895008087158, 0.10795430839061737, 0.3690465986728668, 0.20824997127056122, 0.059687040746212006, 0.02707529067993164, 0.4317655563354492, -0.048334818333387375, 0.21968547999858856, 0.046794343739748, 0.008290313184261322, -0.015355730429291725, 8.268293458968401e-05, 0.0010543025564402342, 0.002640023361891508, -0.016636131331324577, 0.0003354351792950183, -0.0007248090696521103, 0.0008950335322879255, 0.007924397476017475, -0.028202898800373077, 0.0009217382175847888, 0.0015328031731769443, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.1879688501358032, 0.9702752828598022, 0.7011927962303162, 0.6810624003410339, 0.20676842331886292, 0.31302398443222046, 0.24322611093521118, 0.11474377661943436, 0.08670618385076523, 0.0961005836725235, 0.07821157574653625, 0.010504118166863918, 0.064008928835392, 0.049090106040239334, 0.018996328115463257, 0.006061409134417772, 0.07069583237171173, 0.04869161918759346, 0.01763882301747799, 0.008400184102356434, 0.09590861201286316, 0.11721783131361008, 0.02788977511227131, 0.008253206498920918, 0.015744660049676895, 0.12373718619346619, 0.0932023823261261, 0.03503741696476936, 0.01073297206312418, 4.143019199371338, 3.2611844539642334, 2.598883628845215, 1.8202519416809082, 0.3168574869632721, 0.910449206829071, 1.0446943044662476, 0.5540261268615723, 0.6871885061264038, 0.41771700978279114, 0.39164793491363525, 0.10570583492517471, 0.7147543430328369, 0.26536983251571655, 0.3519524037837982, 0.08918614685535431, 0.06664127111434937, 0.06337976455688477, 0.013488559052348137, 0.010978057980537415, 0.06804227083921432, 0.06478065997362137, 0.013575171120464802, 0.01196028757840395, 0.016869863495230675, 0.07130284607410431, 0.06242404133081436, 0.014996146783232689, 0.004742196295410395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1767]}, "observation.state.tcp": {"min": [0.36176958680152893, 0.18726249039173126, 0.9317140579223633, -1.2089080810546875, 1.1916406154632568, -1.3924115896224976, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3133247196674347, -0.23809221386909485, 0.8866585493087769, -0.19174723327159882, 1.218691110610962, 0.7666245102882385, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.48495742678642273, 0.3048935830593109, 1.0517996549606323, -0.8758553862571716, 1.692273736000061, -1.2284787893295288, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4935208261013031, 0.035229526460170746, 1.0513352155685425, 1.3789539337158203, 2.4578440189361572, 1.5460439920425415, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.46235787868499756, 0.2784040570259094, 0.9569110870361328, -1.1204077005386353, 1.4474132061004639, -1.2927855253219604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3636694550514221, -0.08190031349658966, 0.9184070229530334, 0.12317090481519699, 1.9546853303909302, 1.0992281436920166, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.014658414758741856, 0.01867854595184326, 0.02057993784546852, 0.06203474849462509, 0.10280393064022064, 0.041863419115543365, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0329740084707737, 0.07001005858182907, 0.02924770675599575, 0.2835082709789276, 0.20442906022071838, 0.17377425730228424, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1767]}, "action": {"min": [1.0175193548202515, -0.7799999713897705, -0.14659327268600464, 0.9803389310836792, -0.06380152702331543, -0.7699999809265137, 0.40620240569114685, 0.0, -0.248110830783844, 0.0, 0.0, 0.0, -0.06036676466464996, 0.0, 0.0, 0.0, -0.15885379910469055, 0.0, 0.0, 0.0, -0.11338254064321518, -0.018493004143238068, 0.0, 0.0, 0.0, -0.14897401630878448, -0.13172000646591187, 0.0, 0.0, 0.9818586111068726, -0.7798207402229309, -0.22914187610149384, 0.8790947198867798, -1.1829090118408203, -0.7697352170944214, -0.0233494620770216, 0.0, -0.21838127076625824, 0.0, -0.26249176263809204, -0.133882075548172, 0.0, -0.06412894278764725, 0.0, 0.0, 0.0, -0.01571262627840042, 0.0, 0.0, 0.0, -0.03766781836748123, 0.0, 0.0, 0.0, -0.06678572297096252, -0.05329520255327225, 0.0, 0.0, 0.5621083974838257, -1.1069588661193848, 0.5442397594451904, -0.027126310393214226, -0.07104269415140152, 0.0, -0.8726646304130554], "max": [1.2171556949615479, -0.6015118360519409, 0.0, 1.5700000524520874, 0.0, 0.025311069563031197, 0.7493802309036255, 1.227472186088562, 0.0, 0.4553568363189697, 0.33135050535202026, 0.4822549521923065, 0.7551769018173218, 0.15657275915145874, 0.22622297704219818, 0.3026159703731537, 0.6530550122261047, 0.18744415044784546, 0.18168431520462036, 0.0603238083422184, 0.340023010969162, 0.16970723867416382, 0.42873919010162354, 0.372910737991333, 0.04333493858575821, 0.4333493709564209, 0.0926247164607048, 0.7383623719215393, 0.6328819990158081, 1.3090384006500244, -0.10649345070123672, -0.0002875577483791858, 1.5694838762283325, 0.23131458461284637, 0.13838252425193787, 0.6518865823745728, 1.5276575088500977, 0.0, 0.735588550567627, 0.3490658402442932, 0.5333995223045349, 1.046366572380066, 0.31380563974380493, 0.15905503928661346, 0.8881745338439941, 1.5707963705062866, 0.28082501888275146, 1.7453292608261108, 1.2921391725540161, 1.5707963705062866, 0.23864048719406128, 1.7453292608261108, 1.3370081186294556, 0.08196060359477997, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.6882349252700806, 0.013520200736820698, 0.01083358470350504, 0.21588648855686188, -0.6000000238418579], "mean": [1.1428794860839844, -0.6805222630500793, -0.13548360764980316, 1.0130529403686523, -0.05851994454860687, -0.19105498492717743, 0.5396524667739868, 1.1667158603668213, -0.19804656505584717, 0.19847409427165985, 0.2931641638278961, 0.4696985185146332, 0.6122104525566101, 0.09607543051242828, 0.16205158829689026, 0.2892675995826721, 0.47300297021865845, 0.12712082266807556, 0.10725868493318558, 0.036678191274404526, 0.20495329797267914, 0.10009664297103882, 0.2288205474615097, 0.34877505898475647, 0.02075713500380516, 0.19079086184501648, 0.004113670438528061, 0.27277249097824097, 0.23359674215316772, 1.0659855604171753, -0.4457194209098816, -0.2212081253528595, 1.2200770378112793, -0.9914973378181458, -0.3785370886325836, 0.17724274098873138, 1.3346022367477417, -0.12199074029922485, 0.47080978751182556, -0.07917986065149307, 0.11200802028179169, 0.8286646604537964, 0.21522650122642517, 0.05291666090488434, 0.4880005717277527, 1.4777437448501587, 0.21535442769527435, 1.63320791721344, 1.0716615915298462, 1.4726632833480835, 0.17341862618923187, 1.6357344388961792, 1.06776762008667, 0.07352021336555481, 1.4685958623886108, 0.2851957082748413, 1.6519209146499634, 1.3205209970474243, 0.5623109340667725, -1.1068451404571533, 0.6556202173233032, -0.014012854546308517, -0.011973940767347813, 0.17624476552009583, -0.8618232607841492], "std": [0.02751844935119152, 0.01940411888062954, 0.01964685320854187, 0.07902895659208298, 0.007929559797048569, 0.11964399367570877, 0.07173886150121689, 0.17993640899658203, 0.04047215357422829, 0.11641141027212143, 0.049495629966259, 0.07679086178541183, 0.16291743516921997, 0.05818069353699684, 0.07487659901380539, 0.04753529280424118, 0.19637316465377808, 0.05586292967200279, 0.07446105778217316, 0.02494935877621174, 0.13052557408809662, 0.06557102501392365, 0.1883438527584076, 0.05916517600417137, 0.017802633345127106, 0.19311769306659698, 0.07830946147441864, 0.2860772907733917, 0.2454085797071457, 0.049239661544561386, 0.16715002059936523, 0.02884010411798954, 0.1741582304239273, 0.2466767430305481, 0.19679608941078186, 0.13104236125946045, 0.20884279906749725, 0.04123888164758682, 0.15657128393650055, 0.1119457259774208, 0.12211637943983078, 0.20862002670764923, 0.06957775354385376, 0.04105808585882187, 0.2819923758506775, 0.3557067811489105, 0.057627398520708084, 0.42111581563949585, 0.28309983015060425, 0.3689195215702057, 0.05315034091472626, 0.4200860261917114, 0.2850542664527893, 0.019297847524285316, 0.38726481795310974, 0.07860270142555237, 0.36970728635787964, 0.29918578267097473, 5.0348702643532306e-05, 2.2981123038334772e-05, 0.02202133648097515, 0.006223184056580067, 0.013180701993405819, 0.03697316721081734, 0.0479518361389637], "count": [1767]}, "observation.state.tcp_pose": {"min": [0.36176958680152893, 0.18726249039173126, 0.9317140579223633, -1.2089080810546875, 1.1916406154632568, -1.3924115896224976, 0.3133247196674347, -0.23809221386909485, 0.8866585493087769, -0.19174723327159882, 1.218691110610962, 0.7666245102882385], "max": [0.48495742678642273, 0.3048935830593109, 1.0517996549606323, -0.8758553862571716, 1.692273736000061, -1.2284787893295288, 0.4935208261013031, 0.035229526460170746, 1.0513352155685425, 1.3789539337158203, 2.4578440189361572, 1.5460439920425415], "mean": [0.46235787868499756, 0.2784040570259094, 0.9569110870361328, -1.1204077005386353, 1.4474132061004639, -1.2927855253219604, 0.3636694550514221, -0.08190031349658966, 0.9184070229530334, 0.12317090481519699, 1.9546853303909302, 1.0992281436920166], "std": [0.014658414758741856, 0.01867854595184326, 0.02057993784546852, 0.06203474849462509, 0.10280393064022064, 0.041863419115543365, 0.0329740084707737, 0.07001005858182907, 0.02924770675599575, 0.2835082709789276, 0.20442906022071838, 0.17377425730228424], "count": [1767]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.18211421370506287, 0.9330071806907654, -1.2092041969299316, 1.1560152769088745, -1.4002089500427246, 0.3132439851760864, -0.2421080619096756, 0.88657546043396, -0.1910242885351181, 1.218205213546753, 0.7656670212745667], "max": [0.4833104610443115, 0.30532413721084595, 1.0518032312393188, -0.8384642004966736, 1.692537546157837, -1.2288897037506104, 0.4935398995876312, 0.03528491035103798, 1.0517375469207764, 1.3801425695419312, 2.458946943283081, 1.549478530883789], "mean": [0.46234920620918274, 0.2783924639225006, 0.9569464921951294, -1.1190764904022217, 1.4459692239761353, -1.2935588359832764, 0.36368846893310547, -0.08196847885847092, 0.9183782339096069, 0.1221490427851677, 1.9546161890029907, 1.0991425514221191], "std": [0.014667605981230736, 0.018695330247282982, 0.020349711179733276, 0.06528224796056747, 0.10535448789596558, 0.04166663438081741, 0.03291970491409302, 0.06995703279972076, 0.029104668647050858, 0.2824345827102661, 0.20412977039813995, 0.173855260014534], "count": [1767]}, "subtask_index": {"min": [607], "max": [643], "mean": [625.0067911714771], "std": [11.034183611984595], "count": [1767]}, "observation.tactile": {"min": [-0.052030716091394424, -3.594558802433312e-05, -8.095988596323878e-05, -0.0022241275291889906, -0.0004496103501878679, -0.0008316191378980875, -0.008763507939875126, -2.201243842137046e-05, -4.481901487451978e-05, -0.0020501355174928904, -6.192694854689762e-06, -0.00018176526646129787, -0.01661713607609272, -3.60069825546816e-05, -8.011108002392575e-05, -0.001486121560446918, -1.9673645510920323e-05, -0.00033887848258018494, -0.00800301507115364, -3.175116944476031e-05, -7.048430416034535e-05, -0.0010673755314201117, -4.575810817186721e-05, -0.00017120089614763856, -0.0022764201276004314, -5.672153929481283e-05, -0.00012962600158061832, -0.0011923715937882662, -2.2900014300830662e-05, -4.9757567467167974e-05, -1.3968873023986816, -4.030089985462837e-05, -9.084711200557649e-05, -0.220261812210083, -0.012663517147302628, -0.04612017050385475, -4.271623611450195, 0.0, 0.0, -0.3232312500476837, -0.03351092338562012, -0.07946758717298508, -0.006841315887868404, -5.153509846422821e-05, -0.00011445071140769869, -0.0010131953749805689, -2.833865801221691e-05, -0.000156442605657503, -0.012874443084001541, -4.3129741243319586e-05, -9.282593237003312e-05, -0.0012631930876523256, -8.372001320822164e-05, -0.00029619105043821037, -0.009601418860256672, -3.990286495536566e-05, -8.792524749878794e-05, -0.0011305591324344277, -6.272450991673395e-05, -0.0001956266351044178], "max": [0.00028218235820531845, 0.037814389914274216, 0.1188649833202362, 1.5369553238997469e-06, 4.426301529747434e-05, 6.013171059748856e-06, 0.04824665188789368, 0.033800624310970306, 0.11221709847450256, 8.471108117191761e-07, 0.0006247332785278559, 0.0006957384175620973, 0.00190717913210392, 0.02328806184232235, 0.06925498694181442, 1.4973770703363698e-06, 0.00011853323667310178, 8.030763638089411e-06, 0.007829551585018635, 0.017468878999352455, 0.05001113563776016, 1.2792734196409583e-06, 8.731288107810542e-05, 9.664222307037562e-05, 0.5730835795402527, 0.08786040544509888, 0.08059129118919373, 2.4874864266166696e-06, 7.835114956833422e-05, 0.008570815436542034, 4.968257427215576, 9.575132369995117, 12.291879653930664, 1.6718533970561111e-06, 0.04190482199192047, 0.09541235119104385, 4.564589500427246, 13.597281455993652, 16.22511863708496, 0.0, 0.01178402453660965, 0.10398194938898087, 0.016271576285362244, 0.018205588683485985, 0.05702437832951546, 2.071330527542159e-06, 0.0003127923409920186, 0.00017002446111291647, 0.016418373212218285, 0.02473730966448784, 0.07094864547252655, 1.6833918152769911e-06, 0.00021230924176052213, 0.00022097067267168313, 0.002743708435446024, 0.017833251506090164, 0.05100411921739578, 1.663550619923626e-06, 0.00010347639909014106, 5.0572823965922e-05], "mean": [-0.009296215139329433, 0.008153369650244713, 0.024288123473525047, -0.00046390638453885913, -9.721865353640169e-05, -0.00014488989836536348, 0.002596657956019044, 0.006115712691098452, 0.018660617992281914, -0.00033460959093645215, 0.00010355185077060014, 1.4530921362165827e-05, -0.0007358435541391373, 0.0016294779488816857, 0.004776692017912865, -9.172169666271657e-05, 9.53733342612395e-06, -1.7088048480218276e-05, -0.0008572491933591664, 0.0020285893697291613, 0.005926458165049553, -0.00011864972475450486, -1.0091017657032353e-06, -1.6818883523228578e-05, 0.00069513323251158, 0.00022650817118119448, 0.0005856688367202878, -1.0988626854668837e-05, -5.759898158430588e-07, 1.2331021935096942e-05, 0.4524625539779663, 1.1830532550811768, 1.6324713230133057, -0.031347814947366714, 0.0034340806305408478, 0.007250655442476273, -0.36164429783821106, 1.9070571660995483, 3.414235830307007, -0.07273469120264053, -0.0030288090929389, -0.005953281652182341, -0.0010110518196597695, 0.0050020888447761536, 0.014418017119169235, -0.0002855367201846093, 2.2281794372247532e-05, -2.9251350497361273e-05, -0.0012085485504940152, 0.0036093161907047033, 0.010541371069848537, -0.0001926523691508919, 1.161181353381835e-05, -2.9322081900318153e-05, -0.0014817073242738843, 0.004145428072661161, 0.011939451098442078, -0.0002561754372436553, -7.248347174027003e-06, -2.8788874260499142e-05], "std": [0.00964087713509798, 0.007844219915568829, 0.02341165952384472, 0.00044212595093995333, 9.354983922094107e-05, 0.00015255945618264377, 0.005326259881258011, 0.006331389769911766, 0.019732190296053886, 0.0003570429398678243, 0.00011480692774057388, 7.115679909475148e-05, 0.001918184570968151, 0.003262952668592334, 0.0095295961946249, 0.00018871066276915371, 1.9641423932625912e-05, 4.162192635703832e-05, 0.0015120605239644647, 0.0031118709594011307, 0.009020883589982986, 0.0001826307998271659, 8.521875315636862e-06, 2.9951695978525095e-05, 0.01376913208514452, 0.0022648528683930635, 0.0030492679215967655, 5.419186345534399e-05, 5.636649348161882e-06, 0.00020602512813638896, 1.0866985321044922, 1.8760993480682373, 2.4788317680358887, 0.0477786585688591, 0.00722547946497798, 0.02246086671948433, 1.2927402257919312, 2.769930362701416, 4.867990970611572, 0.10155736654996872, 0.006890973541885614, 0.025590883567929268, 0.0015920300502330065, 0.004210009705275297, 0.012028886005282402, 0.00024327216669917107, 2.6159585104323924e-05, 3.0772331228945404e-05, 0.0023953246418386698, 0.003951342310756445, 0.011481749825179577, 0.00022160241496749222, 3.0090315704001114e-05, 4.7024397645145655e-05, 0.0012759079691022635, 0.0033332142047584057, 0.009594196453690529, 0.00021023266890551895, 1.459113718738081e-05, 2.4123404728015885e-05], "count": [1767]}, "timestamp": {"min": [0.0], "max": [58.86666666666667], "mean": [29.43333333333333], "std": [17.002962704797678], "count": [1767]}, "frame_index": {"min": [0], "max": [1766], "mean": [883.0], "std": [510.0888811439303], "count": [1767]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1767]}, "index": {"min": [32566], "max": [34332], "mean": [33449.0], "std": [510.0888811439303], "count": [1767]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1767]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5397387146949768]], [[0.5395210981369019]], [[0.5420000553131104]]], "std": [[[0.30189070105552673]], [[0.30214428901672363]], [[0.30354562401771545]]], "count": [1767]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24784015119075775]], [[0.24804569780826569]], [[0.24745112657546997]]], "std": [[[0.15507544577121735]], [[0.1562241166830063]], [[0.15536323189735413]]], "count": [1767]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.19457577168941498]], [[0.19580356776714325]], [[0.19578631222248077]]], "std": [[[0.13368956744670868]], [[0.13495872914791107]], [[0.13872872292995453]]], "count": [1767]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5415052175521851]], [[0.5414885878562927]], [[0.5438035130500793]]], "std": [[[0.3021751344203949]], [[0.30245596170425415]], [[0.3045230209827423]]], "count": [1767]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6078431606292725]], [[0.6078431606292725]], [[0.6078431606292725]]], "mean": [[[0.0012626353418454528]], [[0.0012626353418454528]], [[0.0012626353418454528]]], "std": [[[0.020829377695918083]], [[0.020829377695918083]], [[0.020829377695918083]]], "count": [1767]}, "observation.images.tactile_raw": {"min": [[[0.027450980618596077]], [[0.027450980618596077]], [[0.027450980618596077]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4680207669734955]], [[0.4680207669734955]], [[0.4680207669734955]]], "std": [[[0.23509036004543304]], [[0.23509036004543304]], [[0.23509036004543304]]], "count": [1767]}}}
+{"episode_index": 21, "stats": {"observation.state": {"min": [1.0499849319458008, -0.780012309551239, -0.14018750190734863, 0.8677554130554199, -0.10903295874595642, -0.7700366377830505, 0.29497432708740234, 0.0062651559710502625, -0.2090550661087036, 0.004243593197315931, 6.041971573722549e-05, 0.0030733507592231035, -0.06079425290226936, -0.03777497261762619, 0.003415858605876565, 0.0008495982619933784, -0.16768966615200043, -0.0006125483778305352, 0.0034339413978159428, 0.0008278705645352602, -0.14155904948711395, -0.03207532688975334, 0.006839163135737181, 0.0008079165127128363, 0.013097853399813175, -0.1423506736755371, -0.03821283206343651, 0.003519036341458559, 0.0008518153917975724, 1.0271543264389038, -0.7794778347015381, -0.22748982906341553, 0.8977940082550049, -1.413975715637207, -0.7680150270462036, -0.19873787462711334, 0.007350482977926731, -0.27127066254615784, 0.0030622815247625113, -0.24501055479049683, 0.003465497400611639, 0.005129029043018818, -0.18761040270328522, 0.003113062120974064, 0.00077111239079386, 0.0036878082901239395, -0.053891848772764206, 0.0026563850697129965, 0.000848267984110862, -0.0002200458839070052, -0.03594736009836197, 0.0034250773023813963, 0.0008629009244032204, 0.005643947049975395, -0.06679610908031464, -0.03874467685818672, 0.0034559243358671665, 0.000863787776324898, 0.5619163513183594, -1.1070547103881836, 0.5443714261054993, -0.017544904723763466, -0.05579855293035507, -9.58738019107841e-05, -0.8729309439659119], "max": [1.1854918003082275, -0.5736597180366516, 1.3542173292080406e-05, 1.5700093507766724, 3.4155040339101106e-05, 0.16515004634857178, 0.6981627345085144, 1.1911183595657349, -2.9450335205183364e-05, 0.29585564136505127, 0.31067100167274475, 0.4796391725540161, 0.7735389471054077, 0.05174412578344345, 0.18988826870918274, 0.29490727186203003, 0.4182768762111664, 0.05437855422496796, 0.06183505803346634, 0.026876749470829964, 0.0003544791543390602, 0.07315931469202042, 0.08518266677856445, 0.34606271982192993, 0.013459631241858006, -0.008886261843144894, 0.0011090654879808426, 0.18172162771224976, 0.16035014390945435, 1.3047351837158203, -0.3099878132343292, -0.0014653111575171351, 1.5678415298461914, 0.22095543146133423, -0.05352598428726196, 0.604885458946228, 1.5385454893112183, 0.000432902219472453, 0.8089876174926758, 0.31506139039993286, 0.40202146768569946, 1.066957950592041, 0.27859991788864136, 0.5356431007385254, 0.9043787121772766, 1.4688756465911865, 0.27411356568336487, 1.6556813716888428, 1.3082882165908813, 1.4686565399169922, 0.21542169153690338, 1.654863715171814, 1.308229684829712, 0.10039439797401428, 1.4685763120651245, 0.3145759105682373, 1.6578402519226074, 1.3081986904144287, 0.5627791881561279, -1.106191873550415, 0.7169442772865295, 0.006135923322290182, 0.007861651480197906, 0.22549517452716827, -0.5998823642730713], "mean": [1.122615098953247, -0.6193146705627441, -0.1310301423072815, 0.917079508304596, -0.10350538790225983, -0.04336986318230629, 0.4636000692844391, 1.1400614976882935, -0.19749827682971954, 0.17200759053230286, 0.2795823812484741, 0.46433183550834656, 0.49692413210868835, 0.008729380555450916, 0.12947288155555725, 0.2826908230781555, 0.2194727510213852, 0.041141025722026825, 0.033554527908563614, 0.021637188270688057, -0.04213389754295349, 0.0177292600274086, 0.01788165234029293, 0.33152469992637634, 0.013264833949506283, -0.09832584857940674, -0.02944725938141346, 0.05729785934090614, 0.05056440457701683, 1.1253660917282104, -0.5413516759872437, -0.21825210750102997, 1.2799822092056274, -1.1309871673583984, -0.3728882074356079, 0.12459240108728409, 1.313819169998169, -0.19067788124084473, 0.4993824064731598, -0.05840969830751419, 0.13057772815227509, 0.8637364506721497, 0.1850026398897171, 0.061355166137218475, 0.48113569617271423, 1.3665597438812256, 0.18729205429553986, 1.5236276388168335, 1.1242170333862305, 1.3620524406433105, 0.14054188132286072, 1.5249409675598145, 1.0442732572555542, 0.06335851550102234, 1.3489736318588257, 0.2671906352043152, 1.5443511009216309, 1.2194725275039673, 0.5621225237846375, -1.1068506240844727, 0.6657459139823914, -0.00748028140515089, -0.026616567745804787, 0.18469445407390594, -0.8596858978271484], "std": [0.01590919867157936, 0.02796303667128086, 0.02009977400302887, 0.10332087427377701, 0.01551672350615263, 0.17266446352005005, 0.12084683030843735, 0.1831233650445938, 0.033469151705503464, 0.05343378707766533, 0.04803355783224106, 0.07831372320652008, 0.24135780334472656, 0.015836728736758232, 0.059237148612737656, 0.048100393265485764, 0.15822000801563263, 0.009521730244159698, 0.027045272290706635, 0.006161851342767477, 0.02039944753050804, 0.01980000175535679, 0.013616914860904217, 0.05649815499782562, 5.534626325243153e-05, 0.03896024078130722, 0.009573299437761307, 0.053785569965839386, 0.046216659247875214, 0.05695315822958946, 0.12992316484451294, 0.0309450700879097, 0.1364826261997223, 0.3242586553096771, 0.135789155960083, 0.14128416776657104, 0.21915997564792633, 0.04056479036808014, 0.19182148575782776, 0.09429437667131424, 0.10923904925584793, 0.2158680558204651, 0.08513716608285904, 0.06505617499351501, 0.23683729767799377, 0.3527030050754547, 0.07030852138996124, 0.4384666979312897, 0.3272356688976288, 0.36664071679115295, 0.05929546803236008, 0.4353560209274292, 0.3080746531486511, 0.016832033172249794, 0.39158084988594055, 0.08193593472242355, 0.39865484833717346, 0.31398773193359375, 8.792289008852094e-05, 8.027506555663422e-05, 0.02672066166996956, 0.005189215298742056, 0.01361036766320467, 0.0386730395257473, 0.04963194951415062], "count": [1461]}, "observation.state.joint_torque": {"min": [-43.9005012512207, -0.5115000009536743, -17.134000778198242, -5.710999965667725, -0.6783999800682068, -0.7455999851226807, 0.623199999332428, -0.6736960411071777, -0.5119580626487732, -0.3131577670574188, -0.3678361177444458, -0.1328205019235611, -0.3770694434642792, -0.37323155999183655, -0.0979551151394844, -0.03567514568567276, -0.3761099874973297, -0.26673105359077454, -0.05810895934700966, -0.03424813970923424, -0.4192858636379242, -0.5881515741348267, -0.08301279693841934, -0.04709119349718094, -0.001759204315021634, -0.3511638939380646, -0.3761099874973297, -0.11289741843938828, -0.03781566023826599, 1.1759999990463257, -8.043000221252441, -7.922999858856201, -9.57699966430664, -1.5911999940872192, -4.9720001220703125, -3.184799909591675, -1.2493304014205933, -0.8851016759872437, -0.5902775526046753, -0.5977336764335632, -0.2042115032672882, -0.457664430141449, -0.8702340126037598, -0.151083305478096, -0.21262387931346893, -0.8021121025085449, -0.33965036273002625, -0.1494230479001999, -0.09489589184522629, -1.2847226858139038, -0.3319746255874634, -0.16436536610126495, -0.1591111570596695, -0.48861902952194214, -1.5763996839523315, -0.4528671205043793, -0.19923073053359985, -0.0706368014216423, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-16.59149932861328, 9.439499855041504, -5.376999855041504, 1.590000033378601, 1.853600025177002, 1.1432000398635864, 3.113600015640259, 1.351212739944458, 0.3947935104370117, 0.5542395710945129, 0.6797511577606201, 0.1859486699104309, 0.442313015460968, 0.3262178599834442, 0.11787818372249603, 0.033534638583660126, 0.36843425035476685, 0.2014874964952469, 0.1494230479001999, 0.01712406985461712, 0.38954249024391174, 0.46725907921791077, 0.11787818372249603, 0.03139413148164749, 0.0013194032944738865, 0.3012717664241791, 0.2724878787994385, 0.11123716086149216, 0.02497260272502899, 53.76900100708008, 12.99899959564209, 19.735000610351562, 2.9630000591278076, 0.8303999900817871, 3.2943999767303467, 5.760000228881836, 2.144620180130005, 2.873077869415283, 2.020613193511963, 1.5086251497268677, 0.7354934215545654, 2.145362138748169, 1.6003862619400024, 1.0559228658676147, 0.21476440131664276, 0.3530828356742859, 0.29743391275405884, 0.2556794285774231, 0.10559843480587006, 0.26673105359077454, 0.2600148022174835, 0.6209357380867004, 0.04352368041872978, 0.11170948296785355, 0.46725907921791077, 0.3051096796989441, 0.10127562284469604, 0.05279921740293503, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.017961502075195, 4.5610671043396, -10.425116539001465, -1.3844478130340576, 0.08211076259613037, -0.0028161623049527407, 1.971468448638916, 0.02857116423547268, -0.01626994088292122, 0.063683420419693, -0.006363158579915762, -4.7726363845868036e-05, 0.0545232817530632, -0.012229363434016705, 0.002428448759019375, -0.0006656429613940418, 0.06038642302155495, -0.05223923549056053, -0.0013307022163644433, -0.0005450172466225922, 0.01244675274938345, 0.03088345192372799, 0.005069400649517775, 0.0004746920894831419, -1.6556501577724703e-05, 0.03434959053993225, 0.00440986268222332, 0.006108068395406008, 0.003191957948729396, 23.715702056884766, 1.1114860773086548, 10.382164001464844, -4.573433876037598, -0.48320338129997253, 1.0285588502883911, -0.9436205625534058, 0.10239121317863464, 0.435309499502182, 0.18172603845596313, 0.09596787393093109, 0.04877696931362152, 0.5660200119018555, -0.06890283524990082, 0.26522621512413025, 0.0562574565410614, 0.014465457759797573, -0.008604972623288631, 0.0010670642368495464, -0.0007584328996017575, 0.004621319007128477, -0.023683181032538414, 0.0003000066499225795, -0.0015349359018728137, -0.000365144747775048, 0.014183778315782547, -0.014240278862416744, -0.0003636435722000897, 0.0013024734798818827, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.2272292375564575, 1.1909204721450806, 0.8646962642669678, 0.7989155650138855, 0.2858414053916931, 0.2807946503162384, 0.26394471526145935, 0.09789073467254639, 0.07215160876512527, 0.09504929184913635, 0.08248773962259293, 0.013190239667892456, 0.06232927367091179, 0.043515026569366455, 0.015918340533971786, 0.005192729644477367, 0.06382328271865845, 0.0471111498773098, 0.010690636932849884, 0.005367328878492117, 0.0589909665286541, 0.09668246656656265, 0.016266759485006332, 0.006599074695259333, 0.00030506186885759234, 0.06286391615867615, 0.047144655138254166, 0.014685655944049358, 0.008777267299592495, 4.4586334228515625, 2.3624765872955322, 2.983367681503296, 1.4889030456542969, 0.3094951808452606, 1.076377511024475, 0.9654412269592285, 0.5478079319000244, 0.7643387913703918, 0.3679199814796448, 0.2857903838157654, 0.12174597382545471, 0.8379086256027222, 0.2994594871997833, 0.41724976897239685, 0.09647580981254578, 0.05579565837979317, 0.07713212072849274, 0.011593670584261417, 0.01086636446416378, 0.05865863338112831, 0.07260403037071228, 0.019453318789601326, 0.011762196198105812, 0.031019289046525955, 0.07619773596525192, 0.0703064426779747, 0.017307862639427185, 0.00574484234675765, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1461]}, "observation.state.tcp": {"min": [0.36175090074539185, 0.18720851838588715, 0.9050055742263794, -1.2326875925064087, 1.217611312866211, -1.4688245058059692, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.32769572734832764, -0.2502281069755554, 0.8934521675109863, -0.3725185692310333, 1.21981680393219, 0.6508049368858337, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4867902100086212, 0.27335602045059204, 1.0517529249191284, -0.8549355268478394, 1.879809856414795, -1.2288122177124023, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4957711696624756, -0.011285741813480854, 1.0518465042114258, 1.3899409770965576, 2.189060926437378, 1.4012386798858643, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4698985517024994, 0.2574893534183502, 0.9345195293426514, -1.1164404153823853, 1.6217811107635498, -1.3420411348342896, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.38150954246520996, -0.12418268620967865, 0.9362160563468933, 0.00895295012742281, 1.9070711135864258, 0.9554784297943115, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.017564192414283752, 0.013683688826858997, 0.028176533058285713, 0.09277588874101639, 0.1808052659034729, 0.029228845611214638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03358382359147072, 0.05422471463680267, 0.03063753806054592, 0.3578270375728607, 0.18366414308547974, 0.15045663714408875, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1461]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.1401696354150772, 0.8676711320877075, -0.10901017487049103, -0.7699999809265137, 0.29493147134780884, 0.0, -0.21647220849990845, 0.0, 0.0, 0.0, -0.08129480481147766, -0.03785950690507889, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.16287395358085632, -0.03785950690507889, 0.0, 0.0, 0.0, -0.1504123955965042, -0.17179518938064575, 0.0, 0.0, 1.0273034572601318, -0.7798998355865479, -0.22750242054462433, 0.8977855443954468, -1.4139684438705444, -0.7696045637130737, -0.1988242119550705, 0.0, -0.2697695195674896, 0.0, -0.24456316232681274, -0.1707935631275177, 0.0, -0.18684738874435425, 0.0, 0.0, 0.0, -0.06719685345888138, 0.0, 0.0, 0.0, -0.07189471274614334, 0.0, 0.0, 0.0, -0.06764853000640869, -0.1225162222981453, 0.0, 0.0, 0.5621080994606018, -1.1069588661193848, 0.5442397594451904, -0.017725933343172073, -0.062490712851285934, 0.0, -0.8727039694786072], "max": [1.1854976415634155, -0.5734778642654419, 7.808933949321502e-19, 1.5700000524520874, -3.1067133640980856e-18, 0.16534456610679626, 0.7641469836235046, 1.197943091392517, 0.0, 0.30366531014442444, 0.3213796019554138, 0.4822549521923065, 0.7814480066299438, 0.04785197228193283, 0.19859439134597778, 0.2963842451572418, 0.42701175808906555, 0.054467134177684784, 0.06825423985719681, 0.0316573828458786, 0.0, 0.08102410286664963, 0.0919669046998024, 0.3483385145664215, 0.0, 0.0, 0.0, 0.18938902020454407, 0.16221842169761658, 1.3049947023391724, -0.30996471643447876, -0.0003485422348603606, 1.569500207901001, 0.2209876924753189, -0.05348113924264908, 0.6067523956298828, 1.5449531078338623, 0.0, 0.809603214263916, 0.3490658402442932, 0.4081883132457733, 1.0909479856491089, 0.27526432275772095, 0.5418601632118225, 0.9060072898864746, 1.5707963705062866, 0.2787158489227295, 1.7453292608261108, 1.3682148456573486, 1.5707963705062866, 0.2180277705192566, 1.7453292608261108, 1.3464995622634888, 0.08458945155143738, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.7176963090896606, 0.006756621412932873, 0.008454451337456703, 0.2258928120136261, -0.6000000238418579], "mean": [1.1225725412368774, -0.61923748254776, -0.1310396045446396, 0.916900098323822, -0.1035117506980896, -0.043620944023132324, 0.4641476273536682, 1.1451514959335327, -0.19906045496463776, 0.1753869652748108, 0.28129515051841736, 0.46608179807662964, 0.5021899342536926, 0.009197850711643696, 0.13009878993034363, 0.2845876216888428, 0.22527222335338593, 0.041663698852062225, 0.03241245076060295, 0.024046078324317932, -0.04092290252447128, 0.021336199715733528, 0.017063019797205925, 0.3328135311603546, 0.0, -0.09559717029333115, -0.09310812503099442, 0.061452291905879974, 0.05265354737639427, 1.1254489421844482, -0.5414339303970337, -0.21828016638755798, 1.2798069715499878, -1.1319431066513062, -0.3734952509403229, 0.124977245926857, 1.3122992515563965, -0.18953272700309753, 0.4974101483821869, -0.05771912261843681, 0.1014074757695198, 0.8705507516860962, 0.1914909929037094, 0.0637979581952095, 0.501133382320404, 1.4614248275756836, 0.18757162988185883, 1.6068565845489502, 1.127044677734375, 1.4567241668701172, 0.13972005248069763, 1.611843466758728, 1.0454050302505493, 0.07156983762979507, 1.4488669633865356, 0.27664050459861755, 1.624587893486023, 1.2996490001678467, 0.5621296763420105, -1.1069416999816895, 0.6657814383506775, -0.007522218860685825, -0.026654478162527084, 0.18472440540790558, -0.859529972076416], "std": [0.01576060615479946, 0.027879199013113976, 0.02007804624736309, 0.10308124125003815, 0.015500963665544987, 0.1729613095521927, 0.12196973711252213, 0.2034340649843216, 0.03726732358336449, 0.05633765086531639, 0.0531768836081028, 0.0868244543671608, 0.24750472605228424, 0.01554869208484888, 0.060078393667936325, 0.053047001361846924, 0.16250821948051453, 0.010069848038256168, 0.029110591858625412, 0.007257620804011822, 0.022130345925688744, 0.023433463647961617, 0.018679697066545486, 0.062080830335617065, 0.0, 0.039990998804569244, 0.052340466529130936, 0.05455591157078743, 0.04678085446357727, 0.05692533776164055, 0.12978248298168182, 0.030861498787999153, 0.1366155743598938, 0.3220058083534241, 0.13633662462234497, 0.1418190896511078, 0.23900973796844482, 0.044175680726766586, 0.1966889649629593, 0.1000288724899292, 0.15013530850410461, 0.22572006285190582, 0.0910877212882042, 0.06621809303760529, 0.2552385926246643, 0.38603657484054565, 0.07192795723676682, 0.4645267128944397, 0.32737335562705994, 0.3984573781490326, 0.06297041475772858, 0.46034353971481323, 0.30982863903045654, 0.020696843042969704, 0.42068609595298767, 0.09464133530855179, 0.4286942780017853, 0.34294694662094116, 8.446512947557494e-05, 1.8986020222655497e-05, 0.026933569461107254, 0.005207338370382786, 0.013792968355119228, 0.03893476724624634, 0.04998229071497917], "count": [1461]}, "observation.state.tcp_pose": {"min": [0.36175090074539185, 0.18720851838588715, 0.9050055742263794, -1.2326875925064087, 1.217611312866211, -1.4688245058059692, 0.32769572734832764, -0.2502281069755554, 0.8934521675109863, -0.3725185692310333, 1.21981680393219, 0.6508049368858337], "max": [0.4867902100086212, 0.27335602045059204, 1.0517529249191284, -0.8549355268478394, 1.879809856414795, -1.2288122177124023, 0.4957711696624756, -0.011285741813480854, 1.0518465042114258, 1.3899409770965576, 2.189060926437378, 1.4012386798858643], "mean": [0.4698985517024994, 0.2574893534183502, 0.9345195293426514, -1.1164404153823853, 1.6217811107635498, -1.3420411348342896, 0.38150954246520996, -0.12418268620967865, 0.9362160563468933, 0.00895295012742281, 1.9070711135864258, 0.9554784297943115], "std": [0.017564192414283752, 0.013683688826858997, 0.028176533058285713, 0.09277588874101639, 0.1808052659034729, 0.029228845611214638, 0.03358382359147072, 0.05422471463680267, 0.03063753806054592, 0.3578270375728607, 0.18366414308547974, 0.15045663714408875], "count": [1461]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.18287914991378784, 0.9042649865150452, -1.2301859855651855, 1.181445837020874, -1.4726804494857788, 0.3277391493320465, -0.2529035210609436, 0.8935549259185791, -0.37146276235580444, 1.2183891534805298, 0.6560627222061157], "max": [0.4845457077026367, 0.2725675106048584, 1.0518032312393188, -0.8069031238555908, 1.8797216415405273, -1.2289544343948364, 0.4956017732620239, -0.011308201588690281, 1.0517853498458862, 1.3923707008361816, 2.1873857975006104, 1.4003031253814697], "mean": [0.46988919377326965, 0.2574986517429352, 0.9345169067382812, -1.1160354614257812, 1.6212538480758667, -1.3420230150222778, 0.38151922821998596, -0.12425509840250015, 0.9362893104553223, 0.007855900563299656, 1.9063889980316162, 0.9552212357521057], "std": [0.017530353739857674, 0.013653873465955257, 0.028016939759254456, 0.09335171431303024, 0.18133385479450226, 0.028978025540709496, 0.03361021727323532, 0.05417730659246445, 0.03069327585399151, 0.3562479615211487, 0.1835804283618927, 0.14975078403949738], "count": [1461]}, "subtask_index": {"min": [644], "max": [676], "mean": [659.520191649555], "std": [9.320833066466488], "count": [1461]}, "observation.tactile": {"min": [-0.02713058330118656, -3.316816582810134e-05, -7.652200292795897e-05, -0.0010627956362441182, -0.00022023920610081404, -0.0004934005555696785, -0.010543697513639927, -2.5374532924615778e-05, -5.331657303031534e-05, -0.0014119360130280256, -3.346642915857956e-05, -0.000217194581637159, -0.014347843825817108, -3.53930372511968e-05, -7.90762496762909e-05, -0.0014226739294826984, -2.627306639624294e-05, -0.0003131368721369654, -0.007921913638710976, -3.761797051993199e-05, -8.256338333012536e-05, -0.0007837389130145311, -6.760834367014468e-05, -0.00014856575580779463, -0.0030733009334653616, -5.5513548431918025e-05, -0.00011961040581809357, -0.0005923036369495094, -5.4435684432974085e-05, -4.1407889511901885e-05, -1.3738170862197876, -3.959595414926298e-05, -8.825477561913431e-05, -0.19242316484451294, -0.00993830244988203, -0.04621288552880287, -5.403539657592773, 0.0, 0.0, -0.3424595594406128, -0.022682854905724525, -0.1123628243803978, -0.002085836371406913, -4.6304303396027535e-05, -0.00010320926958229393, -0.0013746306067332625, -6.4537516664131545e-06, -6.785160803701729e-05, -0.00559608731418848, -4.503438321989961e-05, -9.828153270063922e-05, -0.0011692149564623833, -8.307565440190956e-05, -0.00012156680895714089, -0.009347595274448395, -4.0839793655322865e-05, -9.065103949978948e-05, -0.0013480241177603602, -7.641316915396601e-05, -0.00022200877720024437], "max": [0.00888480432331562, 0.016281818971037865, 0.05082225427031517, 1.4795932656852528e-06, 0.00017438975919503719, 0.00011698608432197943, 0.014152300544083118, 0.02256615459918976, 0.06636052578687668, 9.901535804601735e-07, 0.00032358666067011654, 0.00014171744987834245, 0.0010159567464143038, 0.02368251048028469, 0.06867725402116776, 1.4686015674669761e-06, 0.0001247121545020491, 7.753997124382295e-06, 0.00035791160189546645, 0.014128580689430237, 0.0424790196120739, 1.4955838878449867e-06, 0.00011811604781541973, 6.117892098700395e-06, 0.0013125259429216385, 0.009980695322155952, 0.027576714754104614, 2.2554418137588073e-06, 8.523503493051976e-05, 8.232314939959906e-06, 4.916362762451172, 9.778271675109863, 8.681642532348633, 1.633459078220767e-06, 0.024043165147304535, 0.10414614528417587, 3.862661600112915, 9.93809986114502, 16.99627113342285, 0.0, 0.011146205477416515, 0.07893384993076324, 0.028169089928269386, 0.024794703349471092, 0.07767413556575775, 1.8870509848056827e-06, 0.0004125567793380469, 0.00038975346251390874, 0.01881716027855873, 0.018381008878350258, 0.05979079008102417, 1.8262728644913295e-06, 0.00030312067246995866, 0.00026924911071546376, 0.00842456053942442, 0.02198737859725952, 0.06202217563986778, 1.699296717561083e-06, 0.00021848520555067807, 0.00010443754581501707], "mean": [-0.00012198296462884173, 0.000794494932051748, 0.0024149040691554546, -4.003282083431259e-05, 3.5254142858320847e-06, -2.114052449542214e-06, -0.0008410452865064144, 0.0024461664725095034, 0.007245630957186222, -0.00013048698019701988, 1.6671903722453862e-05, -2.079660953313578e-05, -0.0010077109327539802, 0.00221407413482666, 0.006462687160819769, -0.00011668856313917786, 1.1730286132660694e-05, -2.18169570871396e-05, -0.00013240832777228206, 0.0007654709042981267, 0.0022884842474013567, -4.146497303736396e-05, 9.116126307162631e-07, -2.4656822006363655e-06, 0.0002481790434103459, 0.0002815712068695575, 0.0008477015653625131, -1.5739771697553806e-05, -1.5629906329195364e-06, 5.548502031160751e-06, 0.7507763504981995, 1.3549576997756958, 1.6004174947738647, -0.033822499215602875, 0.003464926267042756, 0.014193832874298096, -0.5034837126731873, 2.0578901767730713, 4.334102153778076, -0.0877528041601181, -0.0038997142110019922, -0.008524923585355282, 0.0004974432522431016, 0.004206241108477116, 0.012487644329667091, -0.0002644105989020318, 4.041630381834693e-05, -6.371494691848056e-06, 0.00016378817963413894, 0.0023907250724732876, 0.006986304651945829, -0.00011735377484001219, 1.6056177628342994e-05, -1.807340481718711e-06, -0.0007957736379466951, 0.0025053899735212326, 0.007296170573681593, -0.00015139726747293025, 8.734911034480319e-07, -1.6822123143356293e-05], "std": [0.0014328915858641267, 0.0017655584961175919, 0.005328564904630184, 9.259919897885993e-05, 2.0973066057194956e-05, 2.459990901115816e-05, 0.002016879618167877, 0.003942993935197592, 0.011663475073873997, 0.0002229417150374502, 3.059683876927011e-05, 4.198608439764939e-05, 0.0018857057439163327, 0.003322456730529666, 0.00968322716653347, 0.00018813952920027077, 2.2468631868832745e-05, 4.2232870328007266e-05, 0.0010690601775422692, 0.0021370449103415012, 0.006312771700322628, 0.00011636913404799998, 1.0410470167698804e-05, 2.0686575226136483e-05, 0.0003768274618778378, 0.0011662684846669436, 0.003337637521326542, 6.203326483955607e-05, 6.416370979422936e-06, 6.521672275994206e-06, 1.421002984046936, 2.08827805519104, 2.3925912380218506, 0.05107715353369713, 0.006284642498940229, 0.029654117301106453, 1.39118492603302, 2.839651107788086, 5.935810565948486, 0.11811721324920654, 0.005931532476097345, 0.02680196240544319, 0.0023339714389294386, 0.0036828145384788513, 0.011116919107735157, 0.0002226705546490848, 5.394877734943293e-05, 2.9572001949418336e-05, 0.0018793673953041434, 0.003351691411808133, 0.009827587753534317, 0.000170726198120974, 3.728369847522117e-05, 2.5356232072226703e-05, 0.001640373608097434, 0.003768159542232752, 0.01095249131321907, 0.00023893892648629844, 2.1614845536532812e-05, 3.301161268609576e-05], "count": [1461]}, "timestamp": {"min": [0.0], "max": [48.666666666666664], "mean": [24.333333333333332], "std": [14.058475761644317], "count": [1461]}, "frame_index": {"min": [0], "max": [1460], "mean": [730.0], "std": [421.7542728493295], "count": [1461]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1461]}, "index": {"min": [34333], "max": [35793], "mean": [35063.0], "std": [421.7542728493295], "count": [1461]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1461]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5396317839622498]], [[0.5393879413604736]], [[0.5415610671043396]]], "std": [[[0.30027222633361816]], [[0.30038008093833923]], [[0.3015049397945404]]], "count": [1461]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24418780207633972]], [[0.24447956681251526]], [[0.2439585030078888]]], "std": [[[0.15601731836795807]], [[0.15688540041446686]], [[0.156241774559021]]], "count": [1461]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.1908942610025406]], [[0.19156312942504883]], [[0.18918274343013763]]], "std": [[[0.12773585319519043]], [[0.12819711863994598]], [[0.13085907697677612]]], "count": [1461]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5413374900817871]], [[0.5412222743034363]], [[0.5430315136909485]]], "std": [[[0.30038484930992126]], [[0.30049240589141846]], [[0.30204614996910095]]], "count": [1461]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8549019694328308]], [[0.8549019694328308]], [[0.8549019694328308]]], "mean": [[[0.001597031601704657]], [[0.001597031601704657]], [[0.001597031601704657]]], "std": [[[0.024205710738897324]], [[0.024205710738897324]], [[0.024205710738897324]]], "count": [1461]}, "observation.images.tactile_raw": {"min": [[[0.0235294122248888]], [[0.0235294122248888]], [[0.0235294122248888]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4680142104625702]], [[0.4680142104625702]], [[0.4680142104625702]]], "std": [[[0.23508170247077942]], [[0.23508170247077942]], [[0.23508170247077942]]], "count": [1461]}}}
+{"episode_index": 22, "stats": {"observation.state": {"min": [1.0500744581222534, -0.77960205078125, -0.14131617546081543, 0.979286253452301, -0.16644087433815002, -0.7694029808044434, 0.27383092045783997, 0.006230827420949936, -0.20674653351306915, 0.004236395936459303, 7.936036854516715e-05, 0.003078314708545804, -0.04996461421251297, -0.0019360213773325086, 0.003456988139078021, 0.0008500416879542172, -0.1711731255054474, 0.00036772602470591664, 0.0034438690636307, 0.0008509285398758948, -0.1641620397567749, -0.02324351668357849, 0.006842709146440029, 0.0008358521736226976, 0.013096783310174942, -0.14348623156547546, -0.038144394755363464, 0.0035307372454553843, 0.0008252100087702274, 1.0251473188400269, -0.779315710067749, -0.2317390739917755, 0.9941954016685486, -1.08512544631958, -0.7689875364303589, -0.1682443767786026, 0.007871193811297417, -0.2594568431377411, 0.003042204538360238, -0.19243641197681427, 0.003497053636237979, 0.005043414421379566, -0.22344787418842316, 0.0031233441550284624, 0.0007808677037246525, -0.0032847565598785877, -0.07531783729791641, 0.002690777648240328, 0.0008229928789660335, -0.00011848725989693776, -0.030728301033377647, 0.003538892138749361, 0.0008629009244032204, 0.005664283875375986, -0.06709711253643036, -0.03761696815490723, 0.003483225591480732, 0.0008877326035872102, 0.5619163513183594, -1.1070547103881836, 0.5441796779632568, -0.036623790860176086, -0.07180947810411453, 9.58738019107841e-05, -0.8727391958236694], "max": [1.1777043342590332, -0.6055172085762024, -0.00028294752701185644, 1.568778395652771, -0.00013218600361142308, 0.07071879506111145, 0.6951245665550232, 1.1884071826934814, 0.0002907091402448714, 0.36755162477493286, 0.3119867742061615, 0.4796384871006012, 0.7662923336029053, 0.06634914875030518, 0.19348177313804626, 0.29076746106147766, 0.36366260051727295, 0.10049787908792496, 0.13991086184978485, 0.04477151855826378, 0.004361932165920734, 0.09796450287103653, 0.17612165212631226, 0.3552575707435608, 0.013684404082596302, 0.023935796692967415, 0.0011132356012240052, 0.13576637208461761, 0.11573115736246109, 1.2578916549682617, -0.2714749276638031, -0.0006067613139748573, 1.5685687065124512, 0.22604812681674957, -0.11347371339797974, 0.5638901591300964, 1.5148005485534668, 0.00016477759345434606, 0.788392961025238, 0.3156314790248871, 0.3786497414112091, 1.0470325946807861, 0.28050869703292847, 0.6133490800857544, 0.9202763438224792, 1.4688886404037476, 0.28393012285232544, 1.6556898355484009, 1.3082588911056519, 1.4670357704162598, 0.23848561942577362, 1.6548362970352173, 1.3082810640335083, 0.06943456828594208, 1.4667788743972778, 0.31508100032806396, 1.6547126770019531, 1.3081862926483154, 0.5627791881561279, -1.1060960292816162, 0.6777318716049194, 0.009875001385807991, 0.0, 0.22252309322357178, -0.5997864603996277], "mean": [1.146239161491394, -0.658517599105835, -0.13022296130657196, 1.0283313989639282, -0.1578882485628128, -0.12777693569660187, 0.43998807668685913, 1.120297908782959, -0.184272900223732, 0.1844814419746399, 0.2850797772407532, 0.4628163278102875, 0.3347361087799072, 0.03251771628856659, 0.12864503264427185, 0.27976682782173157, 0.16401717066764832, 0.052165646106004715, 0.039560142904520035, 0.039697881788015366, -0.04494280740618706, 0.021876800805330276, 0.00870753824710846, 0.3400278091430664, 0.013299009762704372, -0.0954287126660347, -0.033358410000801086, 0.03635566309094429, 0.03142333775758743, 1.0851167440414429, -0.577305257320404, -0.22208747267723083, 1.3445463180541992, -0.9810279011726379, -0.5122740864753723, 0.06003054231405258, 1.3587051630020142, -0.21444132924079895, 0.5074567794799805, -0.014191257767379284, 0.1368943452835083, 0.8652316331863403, 0.1870850920677185, 0.06526191532611847, 0.5995756983757019, 1.3409701585769653, 0.19851696491241455, 1.4948304891586304, 1.154732584953308, 1.3360143899917603, 0.1609579473733902, 1.4978123903274536, 1.1597323417663574, 0.06243488937616348, 1.322309136390686, 0.27902960777282715, 1.5191489458084106, 1.2011991739273071, 0.5621166229248047, -1.1068586111068726, 0.6634390354156494, -0.020346133038401604, -0.028171207755804062, 0.18563582003116608, -0.8531076312065125], "std": [0.023175472393631935, 0.02122541517019272, 0.021170135587453842, 0.0850362777709961, 0.023984812200069427, 0.15267933905124664, 0.10069948434829712, 0.18378573656082153, 0.03350403532385826, 0.07636051625013351, 0.05083594098687172, 0.08083698898553848, 0.23255808651447296, 0.02174319326877594, 0.07143674045801163, 0.0493030771613121, 0.10187087208032608, 0.01129101775586605, 0.017399366945028305, 0.009003622457385063, 0.02764131687581539, 0.012742371298372746, 0.013666409999132156, 0.06032972037792206, 7.241617277031764e-05, 0.02665727771818638, 0.006733141839504242, 0.033316269516944885, 0.02763151191174984, 0.0397513173520565, 0.09955380111932755, 0.033476322889328, 0.13070207834243774, 0.29268908500671387, 0.10817474871873856, 0.16745568811893463, 0.22542990744113922, 0.04067505896091461, 0.16658221185207367, 0.09402568638324738, 0.09797874838113785, 0.23799361288547516, 0.10178396850824356, 0.06041029840707779, 0.28646403551101685, 0.3950207531452179, 0.07606759667396545, 0.47776222229003906, 0.372829407453537, 0.40521788597106934, 0.05916585028171539, 0.4731607139110565, 0.3709925413131714, 0.01840202882885933, 0.4321456551551819, 0.09200385957956314, 0.4288737177848816, 0.338115930557251, 8.559726848034188e-05, 8.615791011834517e-05, 0.02523154951632023, 0.009802985936403275, 0.008600246161222458, 0.04079994559288025, 0.05908055230975151], "count": [1101]}, "observation.state.joint_torque": {"min": [-46.02000045776367, -8.208000183105469, -18.91200065612793, -8.26200008392334, -0.853600025177002, -0.47760000824928284, 0.07999999821186066, -0.6826107501983643, -0.7348253726959229, -0.4510962963104248, -0.2895466685295105, -0.12783971428871155, -0.3214205205440521, -0.18901444971561432, -0.08135254681110382, -0.03496164828538895, -0.28304195404052734, -0.26385265588760376, -0.08965382725000381, -0.033534638583660126, -0.3473260700702667, -0.5871921181678772, -0.18926919996738434, -0.04352368041872978, -0.001759204315021634, -0.3972181975841522, -0.37515050172805786, -0.08135254681110382, -0.03567514568567276, -1.5045000314712524, -12.182999610900879, -10.350000381469727, -9.795000076293945, -1.5776000022888184, -5.980000019073486, -3.4872000217437744, -1.952317714691162, -0.6202079057693481, -0.8922511339187622, -1.3595024347305298, -0.1062563955783844, -0.9594642519950867, -0.9153289198875427, -0.3171089291572571, -0.21333740651607513, -0.3665153384208679, -0.3530828356742859, -0.29718583822250366, -0.04209667816758156, -0.4787726402282715, -0.36363694071769714, -0.36525633931159973, -0.051372215151786804, -0.14469456672668457, -0.4730158746242523, -0.3482855260372162, -0.0979551151394844, -0.08205283433198929, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-10.8149995803833, 16.7549991607666, -2.9619998931884766, 3.8959999084472656, 1.851199984550476, 1.551200032234192, 3.4983999729156494, 0.6494989991188049, 0.4342728555202484, 0.546783447265625, 0.7344295382499695, 0.11621791869401932, 0.4020155072212219, 0.2868798077106476, 0.11621791869401932, 0.019264578819274902, 0.37515053153038025, 0.20532535016536713, 0.10459613054990768, 0.019264578819274902, 0.25905534625053406, 0.47973209619522095, 0.220814049243927, 0.015697065740823746, 0.0021990055684000254, 0.7100035548210144, 0.15831159055233002, 0.23575636744499207, 0.02925362065434456, 49.6349983215332, 14.548500061035156, 19.893999099731445, 5.318999767303467, 0.459199994802475, 2.286400079727173, 5.900000095367432, 2.403146266937256, 3.3824892044067383, 2.079019546508789, 2.0255839824676514, 0.5893909335136414, 2.141524314880371, 2.138645648956299, 1.0575830936431885, 0.21405088901519775, 0.24466337263584137, 0.3012717664241791, 0.10293588042259216, 0.06635577231645584, 0.40585336089134216, 0.20532533526420593, 0.061429474502801895, 0.07349080592393875, 0.12314429879188538, 0.4451914131641388, 0.15735213458538055, 0.11123716086149216, 0.09632289409637451, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.80954360961914, 3.8678953647613525, -11.535074234008789, -2.122666120529175, -0.02723121829330921, 0.14478541910648346, 1.976320743560791, 0.0009993789717555046, -0.04486378654837608, 0.07103994488716125, 0.00014222371100913733, -3.166797250742093e-05, 0.07545168697834015, -0.015084761194884777, -0.001725096721202135, -5.702775888494216e-05, 0.05393044650554657, -0.04141467437148094, 0.004468066152185202, -0.00012118530867155641, -0.005695797968655825, 0.01670217141509056, -0.0006695310003124177, 0.00046724401181563735, -2.1171155822230503e-05, 0.005372481420636177, -0.008814697153866291, 0.004551003221422434, 0.0004503941163420677, 22.580759048461914, 1.9983752965927124, 10.138134002685547, -4.7643609046936035, -0.7733938097953796, 0.9115068316459656, -1.0582289695739746, 0.21275760233402252, 0.570301353931427, 0.2965261936187744, 0.1900862753391266, 0.06681138277053833, 0.6050102114677429, -0.04296775534749031, 0.28336232900619507, 0.06023619696497917, 0.0030770846642553806, -0.03329886496067047, 0.0003483353939373046, 0.0020607993938028812, 3.2240786822512746e-05, -0.02817128412425518, -0.00012968535884283483, -0.001372570637613535, 0.0006067780777812004, 0.01468562614172697, -0.021674631163477898, 0.0023659816943109035, 0.0016499345656484365, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.4372755289077759, 1.2462998628616333, 0.8005847334861755, 0.748496949672699, 0.3274502158164978, 0.3065737783908844, 0.28344616293907166, 0.1142575815320015, 0.11813683062791824, 0.1239543929696083, 0.08881668746471405, 0.014939727261662483, 0.07552095502614975, 0.04958774149417877, 0.019861262291669846, 0.004254744853824377, 0.07034831494092941, 0.050401948392391205, 0.01322696078568697, 0.0061842226423323154, 0.0685158222913742, 0.0969872772693634, 0.01401030644774437, 0.006286805495619774, 0.0003322755510453135, 0.07357075810432434, 0.03408639132976532, 0.01702435314655304, 0.008776350878179073, 4.264347553253174, 2.2386045455932617, 2.9116032123565674, 1.7313427925109863, 0.22891132533550262, 1.0457731485366821, 1.079978585243225, 0.7582473158836365, 0.9409468173980713, 0.48002997040748596, 0.4659683406352997, 0.13349713385105133, 0.851792573928833, 0.4032638669013977, 0.4102492034435272, 0.10267562419176102, 0.05281506106257439, 0.07730001956224442, 0.013387473300099373, 0.009350170381367207, 0.049800217151641846, 0.0649561956524849, 0.01498821284621954, 0.010425161570310593, 0.017697244882583618, 0.06437989324331284, 0.04504186660051346, 0.019721148535609245, 0.006573694758117199, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1101]}, "observation.state.tcp": {"min": [0.3619924783706665, 0.19012902677059174, 0.9184058308601379, -1.2084763050079346, 1.2174303531646729, -1.3925659656524658, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.31881654262542725, -0.22557194530963898, 0.8967663645744324, 0.07254719734191895, 1.218428134918213, 0.6557362079620361, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4730204641819, 0.26376569271087646, 1.0517438650131226, -0.8082110285758972, 1.8885211944580078, -1.2288774251937866, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4729127287864685, -0.002653634175658226, 1.0516976118087769, 1.4179617166519165, 2.11999773979187, 1.4269084930419922, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.46532532572746277, 0.24495677649974823, 0.947772741317749, -1.0597704648971558, 1.6298065185546875, -1.3311429023742676, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3644917607307434, -0.13626207411289215, 0.9278861284255981, 0.2837526798248291, 1.8971201181411743, 0.9156339764595032, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01630694419145584, 0.011869546957314014, 0.023236898705363274, 0.06981105357408524, 0.16175803542137146, 0.027399862185120583, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03195269778370857, 0.04877623915672302, 0.03006289154291153, 0.27115917205810547, 0.19081886112689972, 0.15789656341075897, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1101]}, "action": {"min": [1.0500004291534424, -0.7799975872039795, -0.141320139169693, 0.9780619144439697, -0.1663435846567154, -0.7699790596961975, 0.2738542854785919, 0.0, -0.21503406763076782, 0.0, 0.0, 0.0, -0.07176537811756134, 0.0, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.1745329201221466, -0.02855975180864334, 0.0, 0.0, 0.0, -0.15127499401569366, -0.17131584882736206, 0.0, 0.0, 1.025146245956421, -0.778732419013977, -0.23173052072525024, 0.994106650352478, -1.0851162672042847, -0.7672062516212463, -0.16841064393520355, 0.0, -0.25864824652671814, 0.0, -0.1970096230506897, -0.17050603032112122, 0.0, -0.22529274225234985, 0.0, 0.0, 0.0, -0.09221995621919632, 0.0, 0.0, 0.0, -0.09480840712785721, 0.0, 0.0, 0.0, -0.07006466388702393, -0.15415436029434204, 0.0, 0.0, 0.5621080994606018, -1.1069231033325195, 0.5442397594451904, -0.03673892468214035, -0.08239620178937912, 0.0, -0.8726646304130554], "max": [1.1777077913284302, -0.6055386066436768, -2.8734903025906533e-06, 1.5699851512908936, -4.109185283596162e-06, 0.07081922143697739, 0.695105254650116, 1.1999564170837402, 0.0, 0.3731690049171448, 0.316490113735199, 0.4822549521923065, 0.7681406736373901, 0.0643419548869133, 0.20216096937656403, 0.29401612281799316, 0.38633739948272705, 0.10662262886762619, 0.14659886062145233, 0.046738337725400925, 0.0, 0.10777276009321213, 0.1917966604232788, 0.3588845431804657, 0.011504841037094593, 0.03294627368450165, 0.0, 0.15261180698871613, 0.13081011176109314, 1.2580560445785522, -0.2713365852832794, -0.00263593764975667, 1.566679835319519, 0.22616975009441376, -0.11346262693405151, 0.5672613382339478, 1.5223842859268188, 0.0, 0.7918663024902344, 0.3490658402442932, 0.3817271888256073, 1.1408981084823608, 0.3117923140525818, 0.6387689709663391, 0.9469935894012451, 1.5707963705062866, 0.29089176654815674, 1.7453292608261108, 1.3860472440719604, 1.5707963705062866, 0.24640625715255737, 1.7453292608261108, 1.3962633609771729, 0.0814831331372261, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.6779541373252869, 0.010083477012813091, 0.0, 0.22261400520801544, -0.6000000238418579], "mean": [1.1461647748947144, -0.6584497094154358, -0.13023406267166138, 1.0282467603683472, -0.15790724754333496, -0.12804733216762543, 0.4400111436843872, 1.1243032217025757, -0.18744279444217682, 0.18633703887462616, 0.28640738129615784, 0.4647408425807953, 0.3381127715110779, 0.03263457491993904, 0.12928466498851776, 0.2820151448249817, 0.1698697805404663, 0.05248650163412094, 0.04267459735274315, 0.04115328565239906, -0.04596502333879471, 0.02518269419670105, 0.0022510152775794268, 0.3415931463241577, 2.027192385867238e-05, -0.09758514910936356, -0.11523816734552383, 0.038883741945028305, 0.033129364252090454, 1.0851143598556519, -0.5774358510971069, -0.2221139818429947, 1.3443394899368286, -0.982444167137146, -0.5125873684883118, 0.059957582503557205, 1.3583937883377075, -0.21281938254833221, 0.5074061155319214, -0.010905885137617588, 0.12114213407039642, 0.8774457573890686, 0.19764789938926697, 0.06759686768054962, 0.6260654926300049, 1.4335858821868896, 0.1981898993253708, 1.579485535621643, 1.168717861175537, 1.4291536808013916, 0.15969078242778778, 1.5847516059875488, 1.183229684829712, 0.07048894464969635, 1.4210656881332397, 0.2861745357513428, 1.6011919975280762, 1.2809375524520874, 0.5621240735054016, -1.1068638563156128, 0.6634804606437683, -0.020375870168209076, -0.02822539396584034, 0.1856638789176941, -0.8530423045158386], "std": [0.02319966070353985, 0.021196115761995316, 0.021161478012800217, 0.08516386151313782, 0.023969300091266632, 0.15311764180660248, 0.10064907371997833, 0.20559751987457275, 0.03797835856676102, 0.07922524958848953, 0.05650436505675316, 0.09023541957139969, 0.23643939197063446, 0.02243014983832836, 0.07388804852962494, 0.05477781966328621, 0.10792403668165207, 0.012516282498836517, 0.018227171152830124, 0.009806409478187561, 0.02943277172744274, 0.014927309937775135, 0.012480446137487888, 0.06648639589548111, 0.0004754301335196942, 0.026515062898397446, 0.03095756284892559, 0.03273922577500343, 0.0282574612647295, 0.039583321660757065, 0.09927383810281754, 0.033440109342336655, 0.130797877907753, 0.2896684408187866, 0.10957296937704086, 0.16744345426559448, 0.2481127232313156, 0.0453961081802845, 0.175332710146904, 0.1014665737748146, 0.12567780911922455, 0.2518155872821808, 0.10804536193609238, 0.0618690550327301, 0.3045444190502167, 0.4325398802757263, 0.0782836303114891, 0.5039430856704712, 0.37622353434562683, 0.43923646211624146, 0.06769312918186188, 0.5004357099533081, 0.3811602294445038, 0.022710159420967102, 0.4633237421512604, 0.11021416634321213, 0.46026816964149475, 0.3682119846343994, 8.348109986400232e-05, 8.234771485149395e-06, 0.02549394592642784, 0.009880729019641876, 0.008957990445196629, 0.04096723720431328, 0.05944611504673958], "count": [1101]}, "observation.state.tcp_pose": {"min": [0.3619924783706665, 0.19012902677059174, 0.9184058308601379, -1.2084763050079346, 1.2174303531646729, -1.3925659656524658, 0.31881654262542725, -0.22557194530963898, 0.8967663645744324, 0.07254719734191895, 1.218428134918213, 0.6557362079620361], "max": [0.4730204641819, 0.26376569271087646, 1.0517438650131226, -0.8082110285758972, 1.8885211944580078, -1.2288774251937866, 0.4729127287864685, -0.002653634175658226, 1.0516976118087769, 1.4179617166519165, 2.11999773979187, 1.4269084930419922], "mean": [0.46532532572746277, 0.24495677649974823, 0.947772741317749, -1.0597704648971558, 1.6298065185546875, -1.3311429023742676, 0.3644917607307434, -0.13626207411289215, 0.9278861284255981, 0.2837526798248291, 1.8971201181411743, 0.9156339764595032], "std": [0.01630694419145584, 0.011869546957314014, 0.023236898705363274, 0.06981105357408524, 0.16175803542137146, 0.027399862185120583, 0.03195269778370857, 0.04877623915672302, 0.03006289154291153, 0.27115917205810547, 0.19081886112689972, 0.15789656341075897], "count": [1101]}, "action.tcp_pose": {"min": [0.36175087094306946, 0.18710879981517792, 0.9203320741653442, -1.2088525295257568, 1.217849850654602, -1.395316243171692, 0.3186146020889282, -0.2312561273574829, 0.8970248103141785, 0.07233013957738876, 1.2212876081466675, 0.6554712653160095], "max": [0.4732223153114319, 0.2633863687515259, 1.0518008470535278, -0.8080994486808777, 1.888525128364563, -1.2233798503875732, 0.4728260040283203, -0.002864161506295204, 1.0515682697296143, 1.4133942127227783, 2.1207923889160156, 1.427980661392212], "mean": [0.46535781025886536, 0.24493834376335144, 0.9476892948150635, -1.0598111152648926, 1.6298093795776367, -1.330858826637268, 0.3645305037498474, -0.13637292385101318, 0.9278579354286194, 0.28240615129470825, 1.8970520496368408, 0.9149875640869141], "std": [0.016351688653230667, 0.011760533787310123, 0.02271408960223198, 0.06899509578943253, 0.1612550914287567, 0.028069568797945976, 0.031947821378707886, 0.048562705516815186, 0.03005133382976055, 0.2692527174949646, 0.19072593748569489, 0.15771900117397308], "count": [1101]}, "subtask_index": {"min": [677], "max": [706], "mean": [692.9336966394187], "std": [9.016896031170926], "count": [1101]}, "observation.tactile": {"min": [-0.048059429973363876, -3.5350240068510175e-05, -8.107285248115659e-05, -0.0013833253178745508, -0.00030858087120577693, -0.0007130472804419696, -0.008934054523706436, -2.4100911105051637e-05, -5.037634400650859e-05, -0.0013550460571423173, -3.878887218888849e-05, -0.00020542557467706501, -0.01927729696035385, -3.475757330306806e-05, -7.663520227652043e-05, -0.001536372466944158, -2.0929026504745707e-05, -0.00042427467997185886, -0.5475334525108337, -3.235631447751075e-05, -7.163839472923428e-05, -0.0017460099188610911, -0.00023763201897963881, -0.007214344572275877, -0.0020588142797350883, -5.100456837681122e-05, -0.00011545045708771795, -0.0009521344909444451, -1.036582216329407e-05, -3.927397483494133e-05, -1.6379188299179077, -4.009989424957894e-05, -8.900006650947034e-05, -0.17393507063388824, -0.002203785115852952, -0.05240480601787567, -4.431232452392578, 0.0, 0.0, -0.31861570477485657, -0.024824826046824455, -0.08493547141551971, -0.0040103718638420105, -5.269672328722663e-05, -0.00011609165812842548, -0.0017916755750775337, -4.671886199503206e-05, -7.610800821566954e-05, -0.00489044189453125, -3.8282552850432694e-05, -8.501543197780848e-05, -0.0015723208198323846, -0.00011492660996736959, -0.00012505515769589692, -0.008337264880537987, -4.2282383219571784e-05, -9.463281458010897e-05, -0.0012974549317732453, -8.383268141187727e-05, -0.00018107439973391593], "max": [0.0028592196758836508, 0.025536885485053062, 0.07837681472301483, 1.5735228089397424e-06, 0.00022532018192578107, 2.345739267184399e-05, 0.010117115452885628, 0.01882178522646427, 0.05606137588620186, 9.540276550978888e-07, 0.00024068598577287048, 0.00011077061935793608, 0.0002751349820755422, 0.024171870201826096, 0.07121769338846207, 1.4109114090388175e-06, 0.00012736060307361186, 5.732289992010919e-06, 0.00025930063566192985, 0.060658473521471024, 0.13003695011138916, 1.3320410516826087e-06, 9.256102202925831e-05, 5.473172677739058e-06, 0.0021723024547100067, 0.01828012987971306, 0.050084151327610016, 2.1801345155836316e-06, 0.0001357556029688567, 1.3923240658186842e-05, 6.556225776672363, 12.41115665435791, 8.235795974731445, 1.6392331190218101e-06, 0.027064312249422073, 0.1428777426481247, 4.87946891784668, 14.882956504821777, 19.083126068115234, 0.0, 0.015184945426881313, 0.10173122584819794, 0.04426034912467003, 0.028099345043301582, 0.08998926728963852, 2.072803908959031e-06, 0.0005224914639256895, 0.0006272195023484528, 0.04930732399225235, 0.03290775418281555, 0.09190843254327774, 1.5944101505738217e-06, 0.000438344432041049, 0.0007505281828343868, 0.010698530822992325, 0.024501528590917587, 0.06916961073875427, 1.770776066223334e-06, 0.00012771082401741296, 0.000224883493501693], "mean": [-0.0017320069018751383, 0.00236036186106503, 0.00727525819092989, -0.00010355384438298643, -1.1132104191347025e-05, -2.3186059479485266e-05, -9.010078792925924e-05, 0.00086773227667436, 0.002555788727477193, -4.439107942744158e-05, 4.107586391910445e-06, -2.5442593596380902e-06, -0.0021594716235995293, 0.0034343188162893057, 0.010094729252159595, -0.00019832837278954685, 1.4744221516593825e-05, -4.739005089504644e-05, -0.001220080186612904, 0.0008314510923810303, 0.002330712741240859, -3.43973733833991e-05, -2.94077744911192e-06, -1.413032350683352e-05, 0.0002721282362472266, 0.0002340608334634453, 0.0007103796233423054, -1.4391378499567509e-05, -4.831626370105369e-07, 5.508697995537659e-06, 0.8593650460243225, 1.745606541633606, 2.101072072982788, -0.04300758242607117, 0.004116520285606384, 0.015854984521865845, -0.5878852009773254, 2.8601796627044678, 4.214754581451416, -0.09024509787559509, -0.003445517737418413, -0.009566256776452065, 0.0006760410615243018, 0.0025342414155602455, 0.007654058281332254, -0.00015120473108254373, 2.6989855541614816e-05, 2.4384116841247305e-06, 0.0013444921933114529, 0.0035556303337216377, 0.01041298545897007, -0.00015489842917304486, 1.4479956007562578e-05, 1.7762282368494198e-05, -0.0007705049938522279, 0.005743995308876038, 0.016592243686318398, -0.00031658989610150456, 1.3595509699371178e-05, -1.6327343473676592e-05], "std": [0.004224665928632021, 0.0038190768100321293, 0.011684759519994259, 0.0001850295375334099, 3.895919871865772e-05, 6.698688957840204e-05, 0.0010986528359353542, 0.0022335280664265156, 0.0065602888353168964, 0.00011864363477798179, 2.4201686755986884e-05, 1.8173441276303492e-05, 0.0033020556438714266, 0.004856960382312536, 0.014251823537051678, 0.00028742157155647874, 2.370504807913676e-05, 7.290288340300322e-05, 0.022240271791815758, 0.0030347558204084635, 0.007090633735060692, 0.00010079785715788603, 1.2568511920107994e-05, 0.00028917318559251726, 0.0002599293366074562, 0.0010756395058706403, 0.0030699647031724453, 6.115303403930739e-05, 6.044369456503773e-06, 5.61507204110967e-06, 1.600202202796936, 2.5210845470428467, 2.7784574031829834, 0.05692359805107117, 0.006623203866183758, 0.033478349447250366, 1.8605653047561646, 3.718128204345703, 5.373344421386719, 0.11274205893278122, 0.006642969325184822, 0.03550006076693535, 0.0032792645506560802, 0.00407302426174283, 0.012639867141842842, 0.00024266744730994105, 6.848934572190046e-05, 4.429692853591405e-05, 0.005548688117414713, 0.005559013690799475, 0.01620176061987877, 0.00024466810282319784, 5.4538832046091557e-05, 8.022216206882149e-05, 0.0018023394513875246, 0.00477561354637146, 0.013720807619392872, 0.0002731831918936223, 3.1842762837186456e-05, 2.7825972210848704e-05], "count": [1101]}, "timestamp": {"min": [0.0], "max": [36.666666666666664], "mean": [18.333333333333332], "std": [10.594373069735685], "count": [1101]}, "frame_index": {"min": [0], "max": [1100], "mean": [550.0], "std": [317.8311920920706], "count": [1101]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1101]}, "index": {"min": [35794], "max": [36894], "mean": [36344.0], "std": [317.8311920920706], "count": [1101]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1101]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5398827791213989]], [[0.5394991040229797]], [[0.5414628982543945]]], "std": [[[0.29968199133872986]], [[0.29978862404823303]], [[0.3008202612400055]]], "count": [1101]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24502918124198914]], [[0.24514032900333405]], [[0.24454808235168457]]], "std": [[[0.1554834544658661]], [[0.1562815010547638]], [[0.15569566190242767]]], "count": [1101]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.18977266550064087]], [[0.19038139283657074]], [[0.18973064422607422]]], "std": [[[0.12944719195365906]], [[0.12997747957706451]], [[0.13292501866817474]]], "count": [1101]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5425213575363159]], [[0.5422230362892151]], [[0.5440050363540649]]], "std": [[[0.3003452718257904]], [[0.3004371225833893]], [[0.30199912190437317]]], "count": [1101]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6196078658103943]], [[0.6196078658103943]], [[0.6196078658103943]]], "mean": [[[0.00174691341817379]], [[0.00174691341817379]], [[0.00174691341817379]]], "std": [[[0.02514459937810898]], [[0.02514459937810898]], [[0.02514459937810898]]], "count": [1101]}, "observation.images.tactile_raw": {"min": [[[0.0313725508749485]], [[0.0313725508749485]], [[0.0313725508749485]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4678496718406677]], [[0.4678496718406677]], [[0.4678496718406677]]], "std": [[[0.2350042462348938]], [[0.2350042462348938]], [[0.2350042462348938]]], "count": [1101]}}}
+{"episode_index": 23, "stats": {"observation.state": {"min": [1.0399599075317383, -0.8304973244667053, -0.15335337817668915, 1.0707398653030396, -0.18092069029808044, -0.7700434923171997, 0.2998303174972534, 0.006268046796321869, -0.036711614578962326, -0.27693626284599304, -0.3144368827342987, 0.0031102255452424288, -0.055410586297512054, -0.06526558101177216, 0.003396357875317335, 0.0008522588177584112, -0.1663036346435547, -0.0005387095734477043, 0.0034477694425731897, 0.0007742163725197315, -0.1447191685438156, -0.03586051985621452, 0.0030605867505073547, 0.000812794198282063, 0.01298118568956852, -0.1418009251356125, -0.03854597732424736, 0.003511590650305152, 0.0008389560971409082, 1.0479999780654907, -0.7796582579612732, -0.2303963601589203, 0.8895012140274048, -1.2405753135681152, -0.7694447636604309, -0.2642003893852234, 0.0063224309124052525, -0.24165081977844238, 0.0030473184306174517, -0.23962277173995972, 0.003479680046439171, 0.0050811925902962685, -0.18402685225009918, 0.0031141256913542747, 0.0008190020453184843, 0.0036721080541610718, -0.07712481915950775, 0.0027099240105599165, 0.0008717693854123354, -7.653737702639773e-05, -0.0329243540763855, 0.003521872917190194, 0.0008646746282465756, 0.005329264793545008, -0.06776411831378937, -0.03896791487932205, 0.003471525153145194, 0.0008828549762256444, 0.5618204474449158, -1.107150673866272, 0.5445631742477417, -0.030583741143345833, -0.0583871454000473, 9.58738019107841e-05, -0.8729309439659119], "max": [1.227858066558838, -0.6124817132949829, 5.512743882718496e-06, 1.5700017213821411, 3.235740587115288e-05, 0.0607607401907444, 0.6981539130210876, 1.0343446731567383, 0.02810913510620594, 0.0003348661120980978, -0.003788834670558572, 0.4796302914619446, 0.8255038857460022, 0.07183930277824402, 0.1932087540626526, 0.29514360427856445, 0.5725594162940979, 0.14305594563484192, 0.17028875648975372, 0.031555745750665665, 0.20151382684707642, 0.15362972021102905, 0.31193307042121887, 0.35067611932754517, 0.013701530173420906, 0.11157134920358658, 0.056069500744342804, 0.41920924186706543, 0.3594483435153961, 1.325610876083374, -0.1948351413011551, -0.0006417552358470857, 1.5998787879943848, 0.18806222081184387, -0.0725499838590622, 0.5195987224578857, 1.5595098733901978, -0.0003452740202192217, 0.7893543839454651, 0.3164677023887634, 0.3172958195209503, 1.1349968910217285, 0.26124539971351624, 0.7314692139625549, 0.8668340444564819, 1.4689273834228516, 0.25019919872283936, 1.6556810140609741, 1.2918083667755127, 1.4687755107879639, 0.2044718712568283, 1.654829740524292, 1.308313012123108, 0.09283238649368286, 1.4687676429748535, 0.3022359013557434, 1.655362606048584, 1.308183193206787, 0.5628750920295715, -1.1060001850128174, 0.7366942763328552, 0.004314321093261242, 0.028186896815896034, 0.2816772162914276, -0.5999782085418701], "mean": [1.1921392679214478, -0.807723343372345, -0.13913559913635254, 1.2739170789718628, -0.06656729429960251, -0.21646399796009064, 0.49673551321029663, 0.965434730052948, -0.006216439884155989, -0.2636818587779999, -0.28545352816581726, 0.46640825271606445, 0.5339441895484924, 0.037676382809877396, 0.1092405915260315, 0.2772122621536255, 0.2575359344482422, 0.06519804894924164, 0.08009185642004013, 0.00669055012986064, -0.015031861141324043, 0.02833726443350315, 0.06363705545663834, 0.3193042278289795, 0.01336390059441328, -0.07550834864377975, -0.028835639357566833, 0.018399178981781006, 0.015996288508176804, 1.131835699081421, -0.500531017780304, -0.2218608856201172, 1.337281346321106, -1.0642709732055664, -0.3857530951499939, 0.06611610949039459, 1.3504663705825806, -0.1859952211380005, 0.4956616163253784, -0.00451456755399704, 0.06056959182024002, 0.883434534072876, 0.1785430759191513, 0.08409684151411057, 0.5000202059745789, 1.3775771856307983, 0.19126266241073608, 1.5474423170089722, 1.0333988666534424, 1.3719033002853394, 0.15396857261657715, 1.5500913858413696, 1.1284534931182861, 0.05719437450170517, 1.3656240701675415, 0.248478502035141, 1.5646404027938843, 1.2348216772079468, 0.562120258808136, -1.1068487167358398, 0.7083146572113037, -0.023514682427048683, -0.007175354287028313, 0.2221447229385376, -0.8539409637451172], "std": [0.03218874707818031, 0.032290901988744736, 0.021890757605433464, 0.04833154380321503, 0.05793052911758423, 0.1764262318611145, 0.10014532506465912, 0.1490047425031662, 0.014910007826983929, 0.04200085252523422, 0.045664045959711075, 0.0727197602391243, 0.2820349931716919, 0.023389549925923347, 0.06275825202465057, 0.04437161237001419, 0.1426079124212265, 0.028005804866552353, 0.0652686133980751, 0.006804673932492733, 0.07846119999885559, 0.04124820977449417, 0.08202021569013596, 0.05245373398065567, 7.412266859319061e-05, 0.08331320434808731, 0.012935877777636051, 0.03829463943839073, 0.03319479897618294, 0.058560289442539215, 0.1311921626329422, 0.029781002551317215, 0.22629141807556152, 0.27603664994239807, 0.13899415731430054, 0.1685001701116562, 0.2054482102394104, 0.04237496852874756, 0.1793115735054016, 0.10864733904600143, 0.07955295592546463, 0.2130121886730194, 0.0805203765630722, 0.09005746990442276, 0.2289522886276245, 0.32878270745277405, 0.058565039187669754, 0.3965946137905121, 0.28707146644592285, 0.348819762468338, 0.04542447626590729, 0.38946765661239624, 0.30296868085861206, 0.013982180505990982, 0.36774471402168274, 0.06770847737789154, 0.36030879616737366, 0.28909435868263245, 9.318554657511413e-05, 8.58087296364829e-05, 0.029598841443657875, 0.008025302551686764, 0.014100853353738785, 0.058756932616233826, 0.05118147283792496], "count": [1590]}, "observation.state.joint_torque": {"min": [-38.79899978637695, -5.802000045776367, -18.708999633789062, -9.741999626159668, -1.0776000022888184, -0.7767999768257141, 0.5023999810218811, -1.4989418983459473, -0.6061990857124329, -0.2684209644794464, -0.48216351866722107, -0.16436536610126495, -0.9613832235336304, -0.35404232144355774, -0.13946151733398438, -0.03424813970923424, -0.4739753305912018, -0.27344730496406555, -0.16602559387683868, -0.03781566023826599, -0.42504265904426575, -0.6236517429351807, -0.18926919996738434, -0.04780469834804535, -0.002638806588947773, -0.6601113677024841, -0.8097878098487854, -0.10459613054990768, -0.03710215538740158, 7.932000160217285, -23.319000244140625, -1.6929999589920044, -16.52400016784668, -2.1679999828338623, -3.4535999298095703, -4.011199951171875, -1.9956177473068237, -0.5896432399749756, -0.4349413216114044, -0.9531428813934326, -0.10459613054990768, -0.926842451095581, -0.9047747850418091, -0.3702370822429657, -0.21333740651607513, -0.5468946099281311, -0.31374478340148926, -0.10293588042259216, -0.051372215151786804, -0.5017998218536377, -0.7032872438430786, -0.11289741843938828, -0.07777182012796402, -0.490378201007843, -0.6601113677024841, -0.4634212255477905, -0.09629485011100769, -0.06207476183772087, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-16.055999755859375, 16.36199951171875, -4.9079999923706055, 2.877000093460083, 1.8431999683380127, 1.5424000024795532, 3.589600086212158, 0.5450698137283325, 0.5081375241279602, 0.36410805583000183, 0.5703945159912109, 0.11289741843938828, 0.3367719352245331, 0.25042015314102173, 0.11621791869401932, 0.021405089646577835, 0.42216426134109497, 0.24466340243816376, 0.13116022944450378, 0.022832093760371208, 0.5008403658866882, 0.5593676567077637, 0.13116022944450378, 0.022832093760371208, 0.0030786076094955206, 0.6092597842216492, 0.20436590909957886, 0.24239739775657654, 0.039242662489414215, 42.21149826049805, 20.034000396728516, 18.30500030517578, 6.421999931335449, 1.0872000455856323, 3.748800039291382, 4.644000053405762, 1.902649998664856, 3.2131097316741943, 1.8168120384216309, 2.3374991416931152, 0.4432883560657501, 2.1472809314727783, 1.57831871509552, 1.0592433214187622, 0.21405088901519775, 1.5514535903930664, 0.23698768019676208, 0.07637178897857666, 0.16838671267032623, 0.7781254649162292, 0.2417849898338318, 0.08467306196689606, 0.13627907633781433, 0.12358411401510239, 0.4144885241985321, 0.42696160078048706, 0.1062563955783844, 0.01855107769370079, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.318050384521484, 4.68337869644165, -12.767326354980469, -3.0208170413970947, 0.3807067573070526, 0.0006661586812697351, 2.015594244003296, 0.04894837364554405, -0.0107809379696846, -0.001210660906508565, -0.014519157819449902, -0.00013470127305481583, 0.05057641118764877, 0.007844693027436733, 0.009731817059218884, 0.002797018503770232, 0.048774588853120804, -0.03882627561688423, 0.0048262267373502254, -0.0011321806814521551, 0.01478663831949234, 0.037787213921546936, 0.007395975291728973, 0.003214803524315357, -5.781027357443236e-05, 0.010256023146212101, -0.010927021503448486, 0.0015067571075633168, -0.003654126077890396, 22.963027954101562, 0.3798839747905731, 10.375760078430176, -5.485424518585205, -0.5982762575149536, 1.0270733833312988, -1.1091965436935425, 0.07762911170721054, 0.5116921067237854, 0.2555539309978485, 0.12911388278007507, 0.015503045171499252, 0.5578902959823608, 0.015623580664396286, 0.29959186911582947, 0.0623365119099617, 0.009741833433508873, -0.0038812984712421894, -0.0002756657195277512, 0.001304051955230534, 0.009907837957143784, -0.0026557238306850195, -0.00017542422574479133, 6.282722097239457e-06, -0.002739213639870286, 0.013742643408477306, 0.004018873441964388, 0.00046153017319738865, 0.0012062247842550278, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.2457247972488403, 1.1344654560089111, 0.6080788969993591, 0.7304508090019226, 0.35984089970588684, 0.36491039395332336, 0.2596158981323242, 0.15375645458698273, 0.10593795776367188, 0.04592718929052353, 0.07563872635364532, 0.011418701149523258, 0.07878385484218597, 0.05320945009589195, 0.021785099059343338, 0.0063627902418375015, 0.09540083259344101, 0.061727408319711685, 0.019153527915477753, 0.005720821209251881, 0.12070510536432266, 0.1324627697467804, 0.0285224337130785, 0.008083093911409378, 0.0003600317577365786, 0.08740052580833435, 0.06484054774045944, 0.019778044894337654, 0.011484849266707897, 3.816667318344116, 2.310663938522339, 2.0431127548217773, 2.103317975997925, 0.28024810552597046, 0.7663781642913818, 0.8385748863220215, 0.5847243666648865, 0.7663073539733887, 0.3757672905921936, 0.41075727343559265, 0.0784803032875061, 0.8159882426261902, 0.27304351329803467, 0.440491646528244, 0.09886027872562408, 0.06447001546621323, 0.07719846069812775, 0.009407637640833855, 0.010718593373894691, 0.05001808702945709, 0.07269006222486496, 0.010348866693675518, 0.011447024531662464, 0.03959738090634346, 0.06223876401782036, 0.11082478612661362, 0.014254789799451828, 0.004288384225219488, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1590]}, "observation.state.tcp": {"min": [0.3617725670337677, 0.18428067862987518, 0.9350914359092712, -1.313104271888733, 1.2050480842590332, -1.6818900108337402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.31615689396858215, -0.22046256065368652, 0.9002447724342346, -0.1667288839817047, 1.2183021306991577, 0.7589293718338013, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.486039400100708, 0.29994821548461914, 1.051630973815918, -0.9205591678619385, 1.7762377262115479, -1.1682814359664917, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.48859870433807373, -0.004482853692024946, 1.0520364046096802, 1.3688890933990479, 2.2041690349578857, 1.4131932258605957, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.44478967785835266, 0.2653835713863373, 0.9603891968727112, -1.165928602218628, 1.5181788206100464, -1.3777319192886353, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37569722533226013, -0.0813434049487114, 0.9285773038864136, 0.08616148680448532, 1.9865907430648804, 1.0449014902114868, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.013935113325715065, 0.021475715562701225, 0.018376583233475685, 0.11011440306901932, 0.12990735471248627, 0.16116535663604736, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0528409369289875, 0.05535290390253067, 0.02813691273331642, 0.28349003195762634, 0.17725756764411926, 0.12414272129535675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1590]}, "action": {"min": [1.0410423278808594, -0.8304715156555176, -0.15338604152202606, 1.0704712867736816, -0.18091662228107452, -0.7699999809265137, 0.29982689023017883, 0.0, -0.044762201607227325, -0.27475568652153015, -0.3284528851509094, 0.0, -0.07027087360620499, -0.06642968207597733, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.1606605499982834, -0.04572112113237381, 0.0, 0.0, 0.0, -0.15213795006275177, -0.17898577451705933, 0.0, 0.0, 1.0479358434677124, -0.7793772220611572, -0.23038825392723083, 0.8894923329353333, -1.240530014038086, -0.7686300277709961, -0.26435109972953796, 0.0, -0.2457054704427719, 0.0, -0.24427562952041626, -0.1745329201221466, 0.0, -0.18377941846847534, 0.0, 0.0, 0.0, -0.0865633562207222, 0.0, 0.0, 0.0, -0.09423334151506424, 0.0, 0.0, 0.0, -0.07092747092247009, -0.13009029626846313, 0.0, 0.0, 0.5619163513183594, -1.1069588661193848, 0.5442397594451904, -0.03102434240281582, -0.06700067222118378, 0.0, -0.8726646304130554], "max": [1.227874517440796, -0.6123409271240234, 0.0, 1.5700000524520874, 6.938893903907228e-18, 0.06006776914000511, 0.7294304966926575, 1.0433945655822754, 0.03088229149580002, 0.0, 0.0, 0.4822549521923065, 0.830685555934906, 0.07306664437055588, 0.19845519959926605, 0.2981290817260742, 0.5826570391654968, 0.14382165670394897, 0.17803214490413666, 0.03589494153857231, 0.21135050058364868, 0.15254586935043335, 0.3156961500644684, 0.35550975799560547, 0.01737232133746147, 0.12095849961042404, 0.056576184928417206, 0.4228034019470215, 0.36251792311668396, 1.3258508443832397, -0.19481854140758514, -0.0006175465532578528, 1.6000335216522217, 0.188151553273201, -0.07198698073625565, 0.5195059776306152, 1.5711075067520142, 0.0, 0.7944550514221191, 0.3490658402442932, 0.3200802505016327, 1.1557587385177612, 0.2638553977012634, 0.7344700694084167, 0.8657405376434326, 1.5707963705062866, 0.2558020353317261, 1.7453292608261108, 1.2945839166641235, 1.5707963705062866, 0.21102899312973022, 1.7453292608261108, 1.3962633609771729, 0.07508068531751633, 1.5707963705062866, 0.30891603231430054, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.7372406721115112, 0.008171997033059597, 0.028776846826076508, 0.28219905495643616, -0.6000000238418579], "mean": [1.1921802759170532, -0.8077418208122253, -0.1391482800245285, 1.2738083600997925, -0.06659328192472458, -0.21690674126148224, 0.4973321557044983, 0.9717236757278442, -0.00708133727312088, -0.26282140612602234, -0.2920387089252472, 0.46860581636428833, 0.5377962589263916, 0.03791574016213417, 0.1125095933675766, 0.280097097158432, 0.26090946793556213, 0.06535251438617706, 0.08096078038215637, 0.005954169202595949, -0.016111331060528755, 0.030165866017341614, 0.06281890720129013, 0.3219071626663208, 0.0035801243502646685, -0.07795993983745575, -0.08877657353878021, 0.018700936809182167, 0.015902012586593628, 1.131992220878601, -0.5006430149078369, -0.2218751609325409, 1.3370985984802246, -1.0648821592330933, -0.38579443097114563, 0.06641039252281189, 1.3503382205963135, -0.18445608019828796, 0.49497804045677185, -0.0032217781990766525, 0.013789023272693157, 0.8934187889099121, 0.18731574714183807, 0.08973271399736404, 0.5291460752487183, 1.4726711511611938, 0.19130519032478333, 1.6310369968414307, 1.0356272459030151, 1.4660065174102783, 0.15214304625988007, 1.6347692012786865, 1.1384094953536987, 0.06693978607654572, 1.4636585712432861, 0.24673666059970856, 1.6450563669204712, 1.3140870332717896, 0.5621271133422852, -1.1068487167358398, 0.7083619832992554, -0.023556280881166458, -0.007200932130217552, 0.22217698395252228, -0.8539522290229797], "std": [0.03211331367492676, 0.03234003111720085, 0.02187967486679554, 0.04849935695528984, 0.0579691044986248, 0.17681127786636353, 0.10106408596038818, 0.16188941895961761, 0.014907238073647022, 0.045313458889722824, 0.051729850471019745, 0.0799742266535759, 0.2880018651485443, 0.023415077477693558, 0.06628091633319855, 0.048639047890901566, 0.1477624922990799, 0.028644682839512825, 0.06855925917625427, 0.00795346312224865, 0.07969003915786743, 0.04278530180454254, 0.08427421003580093, 0.05733972415328026, 0.00569109758362174, 0.08694532513618469, 0.05394254997372627, 0.03744662553071976, 0.03214707598090172, 0.05869637429714203, 0.13096098601818085, 0.02972913160920143, 0.22622093558311462, 0.274213045835495, 0.13917942345142365, 0.16866040229797363, 0.22135834395885468, 0.04535602405667305, 0.18302381038665771, 0.11367025226354599, 0.1282387375831604, 0.22662414610385895, 0.0847252756357193, 0.09090767800807953, 0.25347667932510376, 0.3630787134170532, 0.06104237586259842, 0.42184358835220337, 0.28762319684028625, 0.3793778121471405, 0.05387008562684059, 0.4211656153202057, 0.3108149468898773, 0.017981329932808876, 0.394560307264328, 0.08131320029497147, 0.3948095142841339, 0.3219453692436218, 7.680832641199231e-05, 2.047728958132211e-05, 0.029853999614715576, 0.008061614818871021, 0.01431966107338667, 0.058947645127773285, 0.051418911665678024], "count": [1590]}, "observation.state.tcp_pose": {"min": [0.3617725670337677, 0.18428067862987518, 0.9350914359092712, -1.313104271888733, 1.2050480842590332, -1.6818900108337402, 0.31615689396858215, -0.22046256065368652, 0.9002447724342346, -0.1667288839817047, 1.2183021306991577, 0.7589293718338013], "max": [0.486039400100708, 0.29994821548461914, 1.051630973815918, -0.9205591678619385, 1.7762377262115479, -1.1682814359664917, 0.48859870433807373, -0.004482853692024946, 1.0520364046096802, 1.3688890933990479, 2.2041690349578857, 1.4131932258605957], "mean": [0.44478967785835266, 0.2653835713863373, 0.9603891968727112, -1.165928602218628, 1.5181788206100464, -1.3777319192886353, 0.37569722533226013, -0.0813434049487114, 0.9285773038864136, 0.08616148680448532, 1.9865907430648804, 1.0449014902114868], "std": [0.013935113325715065, 0.021475715562701225, 0.018376583233475685, 0.11011440306901932, 0.12990735471248627, 0.16116535663604736, 0.0528409369289875, 0.05535290390253067, 0.02813691273331642, 0.28349003195762634, 0.17725756764411926, 0.12414272129535675], "count": [1590]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.17957822978496552, 0.9353113174438477, -1.3122119903564453, 1.205633282661438, -1.6849948167800903, 0.31616151332855225, -0.22495271265506744, 0.9003565311431885, -0.16628088057041168, 1.2190890312194824, 0.7593086361885071], "max": [0.4858517646789551, 0.3004922866821289, 1.0518032312393188, -0.9206112027168274, 1.777252435684204, -1.166015386581421, 0.48829999566078186, -0.004498876165598631, 1.0517256259918213, 1.3580445051193237, 2.2052500247955322, 1.4157235622406006], "mean": [0.44484153389930725, 0.2654498815536499, 0.9603924751281738, -1.1655685901641846, 1.517437219619751, -1.3775111436843872, 0.3757821321487427, -0.08143208920955658, 0.9286056756973267, 0.08539292216300964, 1.9864635467529297, 1.0446925163269043], "std": [0.01400882937014103, 0.021424446254968643, 0.018050581216812134, 0.11078789085149765, 0.13000918924808502, 0.1619291603565216, 0.05291888490319252, 0.05533725023269653, 0.028303230181336403, 0.2820047438144684, 0.17725424468517303, 0.12400134652853012], "count": [1590]}, "subtask_index": {"min": [707], "max": [736], "mean": [721.8729559748427], "std": [8.287914103864154], "count": [1590]}, "observation.tactile": {"min": [-0.033458445221185684, -3.480637678876519e-05, -7.809260569047183e-05, -0.0013929852284491062, -0.00030643370701000094, -0.0005342189688235521, -0.010579418390989304, -2.4364044293179177e-05, -5.0363738409942016e-05, -0.0017568510957062244, -7.053112312860321e-06, -0.00019317999249324203, -0.015391235239803791, -3.579869007808156e-05, -7.907802500994876e-05, -0.001441497472114861, -2.7206275262869895e-05, -0.00030887569300830364, -1.035442590713501, -3.0590035748900846e-05, -6.817272515036166e-05, -0.003888890612870455, -0.0010182599071413279, -0.013995274901390076, -0.0019113440066576004, -5.396800406742841e-05, -0.00012234970927238464, -0.0010501346550881863, -0.00025062955683097243, -4.044399247504771e-05, -2.1002390384674072, -4.168829400441609e-05, -9.264102118322626e-05, -0.1885874718427658, -0.0196211040019989, -0.040602657943964005, -5.007301330566406, 0.0, 0.0, -0.34448519349098206, -0.035664480179548264, -0.0962168425321579, -0.004253915976732969, -4.875344529864378e-05, -0.00010901104542426765, -0.0012205318780615926, -3.907925929524936e-05, -0.00010184591519646347, -0.012509251944720745, -4.008221731055528e-05, -8.798974158708006e-05, -0.0013336898991838098, -7.980438385857269e-05, -0.0002850065939128399, -0.008889940567314625, -4.014154546894133e-05, -9.017190313898027e-05, -0.0015869723865762353, -0.0001025696110446006, -0.00020150752970948815], "max": [0.0002743100340012461, 0.025256717577576637, 0.07428111881017685, 1.4991471743996954e-06, 9.874522947939113e-05, 5.848658020113362e-06, 0.03225157782435417, 0.026605797931551933, 0.08284608274698257, 9.893552714856924e-07, 0.0004908390692435205, 0.0005942760617472231, 0.006689051631838083, 0.025127366185188293, 0.07279469072818756, 1.4871787925585522e-06, 0.00021374771313276142, 5.889312888029963e-05, 0.0006670515285804868, 0.117464080452919, 0.275869220495224, 1.2604712082975311e-06, 0.00013694638619199395, 5.158929070603335e-06, 0.37376120686531067, 0.05381007865071297, 0.067837655544281, 2.3305756258196197e-06, 6.111952825449407e-05, 0.006066684611141682, 7.072726249694824, 6.815718173980713, 8.73511028289795, 1.7236761777894571e-06, 0.02187085524201393, 0.14020413160324097, 6.487967491149902, 10.254241943359375, 17.976890563964844, 0.0, 0.010908851400017738, 0.12452872842550278, 0.017816150560975075, 0.02252657525241375, 0.06705241650342941, 1.9826138668577187e-06, 0.0003668268327601254, 0.00015026392065919936, 0.019914722070097923, 0.025937851518392563, 0.07337523251771927, 1.645637439651182e-06, 0.00034070410765707493, 0.00025109187117777765, 0.002321964595466852, 0.023760274052619934, 0.07027216255664825, 1.67199516454275e-06, 0.00010455289884703234, 1.8379396351519972e-05], "mean": [-0.0029704589396715164, 0.0032731727696955204, 0.009470729157328606, -0.00016509347187820822, -3.929612648789771e-05, -3.7812838854733855e-05, 0.00014975835802033544, 0.0017849700525403023, 0.005320918280631304, -9.988372039515525e-05, 2.0842391677433625e-05, -3.6408673622645438e-06, -0.0008656851132400334, 0.0015469938516616821, 0.004544534720480442, -8.431447349721566e-05, 8.135611096804496e-06, -1.8701648514252156e-05, -0.0033581156749278307, 0.0013748343335464597, 0.0038262098096311092, -7.31794280000031e-05, -1.2016853361274116e-06, -4.7475485189352185e-05, 0.001021471805870533, 0.0007150279707275331, 0.0019397448049858212, -3.3757405617507175e-05, 1.2981500674413837e-07, 1.7339103578706272e-05, 0.8684383630752563, 1.3068313598632812, 1.9419711828231812, -0.03775658458471298, 0.0011640345910564065, 0.016843650490045547, -0.5330429077148438, 2.1186676025390625, 4.564846038818359, -0.09305542707443237, -0.0059726242907345295, -0.00839364156126976, 0.00022376417473424226, 0.0026641746517270803, 0.0077562457881867886, -0.00015173359133768827, 2.314658740942832e-05, -4.067138888785848e-06, -0.0004259821434970945, 0.004006784874945879, 0.011685622856020927, -0.00019742737640626729, 2.2468984752777033e-05, -1.526863343315199e-05, -0.000576447113417089, 0.00269488338381052, 0.007838152348995209, -0.00017063572886399925, 6.389334885170683e-06, -1.5132372027437668e-05], "std": [0.0053639342077076435, 0.004965702071785927, 0.014522061683237553, 0.0002567984047345817, 6.115293217590079e-05, 7.653671491425484e-05, 0.002263953909277916, 0.0040211305022239685, 0.012049022130668163, 0.00022960506612434983, 5.425066774478182e-05, 3.770213152165525e-05, 0.002082822611555457, 0.0027799438685178757, 0.008164912462234497, 0.00015587024972774088, 1.9242139387642965e-05, 4.237644316162914e-05, 0.04914047569036484, 0.005553135182708502, 0.013242003507912159, 0.00020056244102306664, 3.974836727138609e-05, 0.0006582316709682345, 0.015720194205641747, 0.002699773758649826, 0.005457240156829357, 9.228326234733686e-05, 9.800504813028965e-06, 0.00025293181533925235, 1.4852378368377686, 1.8458393812179565, 2.5916788578033447, 0.05169500410556793, 0.005607939325273037, 0.029714446514844894, 1.6801573038101196, 2.6661765575408936, 5.9046950340271, 0.11727475374937057, 0.008873929269611835, 0.03236085921525955, 0.0011121141724288464, 0.0035517760552465916, 0.010219513438642025, 0.00020415541075635701, 3.669835859909654e-05, 1.8332464605919085e-05, 0.0022919580806046724, 0.005058599170297384, 0.014684515073895454, 0.00026428260025568306, 4.90831007482484e-05, 4.5123539166525006e-05, 0.001207274734042585, 0.003538853256031871, 0.010222992859780788, 0.00023547337332274765, 1.7387797925039195e-05, 2.6345698643126525e-05], "count": [1590]}, "timestamp": {"min": [0.0], "max": [52.96666666666667], "mean": [26.483333333333334], "std": [15.299779107579976], "count": [1590]}, "frame_index": {"min": [0], "max": [1589], "mean": [794.5], "std": [458.9933732273993], "count": [1590]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1590]}, "index": {"min": [36895], "max": [38484], "mean": [37689.5], "std": [458.9933732273993], "count": [1590]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1590]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5354565382003784]], [[0.5350887775421143]], [[0.5370323061943054]]], "std": [[[0.3007279932498932]], [[0.3008171319961548]], [[0.3017154932022095]]], "count": [1590]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25355207920074463]], [[0.2534017562866211]], [[0.25294288992881775]]], "std": [[[0.15907451510429382]], [[0.1598050892353058]], [[0.15930521488189697]]], "count": [1590]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.18901778757572174]], [[0.18947330117225647]], [[0.19033867120742798]]], "std": [[[0.128953754901886]], [[0.1295728087425232]], [[0.13339854776859283]]], "count": [1590]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5378959774971008]], [[0.5375241637229919]], [[0.53928142786026]]], "std": [[[0.3016150891780853]], [[0.30188748240470886]], [[0.3033577501773834]]], "count": [1590]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.615686297416687]], [[0.615686297416687]], [[0.615686297416687]]], "mean": [[[0.0016237664967775345]], [[0.0016237664967775345]], [[0.0016237664967775345]]], "std": [[[0.024467965587973595]], [[0.024467965587973595]], [[0.024467965587973595]]], "count": [1590]}, "observation.images.tactile_raw": {"min": [[[0.027450980618596077]], [[0.027450980618596077]], [[0.027450980618596077]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4678228199481964]], [[0.4678228199481964]], [[0.4678228199481964]]], "std": [[[0.23497237265110016]], [[0.23497237265110016]], [[0.23497237265110016]]], "count": [1590]}}}
+{"episode_index": 24, "stats": {"observation.state": {"min": [1.0499814748764038, -0.7800257802009583, -0.1628376841545105, 0.9719372987747192, -0.04118343070149422, -0.7700388431549072, 0.33399495482444763, 0.006193969398736954, -0.014263191260397434, -0.27429714798927307, -0.2855573892593384, 0.0031088071409612894, -0.02698259800672531, -0.0008303885697387159, 0.0034275592770427465, 0.0008300876361317933, -0.13506901264190674, -0.000514425162691623, 0.003459115279838443, 0.0008243231568485498, -0.13600365817546844, -0.038001131266355515, 0.0026439751964062452, 0.0008114639203995466, 0.01307537592947483, -0.14357870817184448, -0.0382530651986599, 0.0035222277510911226, 0.0008420600206591189, 1.028587818145752, -0.7798256278038025, -0.23068314790725708, 0.945871114730835, -1.4109185934066772, -0.7697230577468872, -0.3048461973667145, 0.006646745838224888, -0.2736319303512573, 0.0030423940625041723, -0.28209733963012695, 0.0034736525267362595, 0.005139823071658611, -0.0980670377612114, 0.003126889932900667, 0.0007431767298839986, 0.003803105792030692, -0.012718068435788155, 0.0027464439626783133, 0.00085270224371925, -0.0022951592691242695, -0.024988194927573204, 0.003486771136522293, 0.0008691088296473026, 0.005803429055958986, -0.06910058856010437, -0.03564537689089775, 0.00347542529925704, 0.0008695522556081414, 0.5614369511604309, -1.107150673866272, 0.5408241152763367, -0.02924150787293911, -0.058099523186683655, -9.58738019107841e-05, -0.8728350400924683], "max": [1.21913480758667, -0.5954883694648743, 6.8310082497191615e-06, 1.5700061321258545, 4.0986047679325566e-05, 0.04037065804004669, 0.6981551647186279, 1.046217679977417, 0.027557721361517906, 0.0018074809340760112, -0.005329445470124483, 0.47962498664855957, 0.7312823534011841, 0.06331019848585129, 0.10843170434236526, 0.28589025139808655, 0.38688623905181885, 0.09590534120798111, 0.07255952060222626, 0.011299301870167255, 0.1687052696943283, 0.12318918853998184, 0.1414383202791214, 0.3739137053489685, 0.013583792373538017, 0.02331392467021942, 0.01873464323580265, 0.08995508402585983, 0.08241324871778488, 1.318341851234436, -0.3492782413959503, -0.00028834043769165874, 1.5759122371673584, 0.22777576744556427, 0.22961954772472382, 0.5197548866271973, 1.5831708908081055, 0.00036677453317679465, 0.7747344970703125, 0.3146367073059082, 0.3601529002189636, 1.0762579441070557, 0.25211724638938904, 0.2751198709011078, 0.8925650119781494, 1.4687561988830566, 0.2618245780467987, 1.6556745767593384, 1.2449629306793213, 1.4685734510421753, 0.23144857585430145, 1.6548452377319336, 1.2746270895004272, 0.0693981796503067, 1.4686801433563232, 0.30935028195381165, 1.6553466320037842, 1.3081905841827393, 0.5626833438873291, -1.1060001850128174, 0.6836760640144348, 0.011984225362539291, 0.007669903803616762, 0.2720898389816284, -0.5409199595451355], "mean": [1.185511589050293, -0.6588274240493774, -0.14824441075325012, 1.0198614597320557, -0.03662173077464104, -0.16710013151168823, 0.4656064212322235, 1.0073423385620117, 0.016209866851568222, -0.26413530111312866, -0.2756252586841583, 0.46629050374031067, 0.4911945164203644, 0.04787658900022507, 0.07692938297986984, 0.27716806530952454, 0.28211626410484314, 0.0688866674900055, 0.007156228646636009, 0.007896330207586288, 0.11380039155483246, 0.056496355682611465, 0.05325819179415703, 0.35025084018707275, 0.013380629941821098, -0.014337225817143917, -0.02189978025853634, 0.01906817965209484, 0.017781667411327362, 1.1133707761764526, -0.5396736264228821, -0.21970774233341217, 1.3811054229736328, -1.15692937374115, -0.326731413602829, 0.021026311442255974, 1.3017393350601196, -0.2013188749551773, 0.4904243052005768, 0.01088305376470089, 0.08023939281702042, 0.883292555809021, 0.17672143876552582, 0.07135416567325592, 0.5469481945037842, 1.3684418201446533, 0.17835134267807007, 1.5317232608795166, 1.0856741666793823, 1.3626842498779297, 0.14967773854732513, 1.5359432697296143, 1.123165488243103, 0.06373000890016556, 1.3572293519973755, 0.2596862018108368, 1.5530952215194702, 1.227027416229248, 0.5619182586669922, -1.1068459749221802, 0.6645132303237915, -0.008823351934552193, -0.008177894167602062, 0.2208978682756424, -0.8572697043418884], "std": [0.024970117956399918, 0.01855858974158764, 0.02210613340139389, 0.0812835544347763, 0.005164403468370438, 0.12842082977294922, 0.09627196192741394, 0.1568358987569809, 0.007035564631223679, 0.04191257804632187, 0.0427975207567215, 0.07319093495607376, 0.21521919965744019, 0.013206209987401962, 0.03036429174244404, 0.04381263256072998, 0.12535902857780457, 0.016631299629807472, 0.00701414979994297, 0.0028720772825181484, 0.06838666647672653, 0.0396878756582737, 0.04987018182873726, 0.056294407695531845, 6.813049549236894e-05, 0.04000115394592285, 0.015958935022354126, 0.022451024502515793, 0.01970699615776539, 0.05508723855018616, 0.0858050212264061, 0.031300175935029984, 0.13175171613693237, 0.3388444185256958, 0.2109375, 0.18427762389183044, 0.20625180006027222, 0.052688371390104294, 0.17650121450424194, 0.11737152189016342, 0.08501443266868591, 0.21526303887367249, 0.06996198743581772, 0.037579745054244995, 0.2538309097290039, 0.34904369711875916, 0.05521019175648689, 0.42463141679763794, 0.3113236427307129, 0.36454200744628906, 0.05112249404191971, 0.41894304752349854, 0.3166601061820984, 0.016388986259698868, 0.3832208812236786, 0.07453157752752304, 0.37700948119163513, 0.29734763503074646, 0.00010681794810807332, 7.852400449337438e-05, 0.026320423930883408, 0.010707531124353409, 0.008497972972691059, 0.05179790407419205, 0.05906686559319496], "count": [1642]}, "observation.state.joint_torque": {"min": [-46.35749816894531, -13.175999641418457, -19.27899932861328, -9.510000228881836, -0.8967999815940857, -1.3240000009536743, 0.6639999747276306, -0.9194868803024292, -0.6380372643470764, -0.2671782374382019, -0.2783624529838562, -0.11123716086149216, -0.23986606299877167, -0.2983933985233307, -0.07637178897857666, -0.033534638583660126, -0.23602819442749023, -0.23410926759243011, -0.048147425055503845, -0.04066966846585274, -0.4471103549003601, -0.42216426134109497, -0.16602559387683868, -0.04780469834804535, -0.001759204315021634, -0.3175826668739319, -0.3521233797073364, -0.11787818372249603, -0.03638865053653717, -4.132500171661377, -11.184000015258789, -14.928000450134277, -9.364999771118164, -1.5992000102996826, -7.888000011444092, -3.842400074005127, -2.000711679458618, -0.644404947757721, -0.6002190709114075, -0.3964179754257202, -0.28722429275512695, -0.6860169172286987, -0.7637335658073425, -0.5810896754264832, -0.21333740651607513, -0.5027592778205872, -0.37706947326660156, -0.6773844957351685, -0.09418238699436188, -1.3000739812850952, -0.3242989182472229, -0.31544867157936096, -0.14840862154960632, -0.1319403201341629, -0.26385265588760376, -0.3952992558479309, -0.12285894900560379, -0.045664187520742416, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-15.316499710083008, 27.378000259399414, -5.073999881744385, 11.829999923706055, 1.9263999462127686, 2.4560000896453857, 3.451200008392334, 0.8405281901359558, 0.5106845498085022, 0.28209051489830017, 0.42002907395362854, 0.10957689583301544, 0.42216426134109497, 0.25425800681114197, 0.09961536526679993, 0.022832093760371208, 0.5325026512145996, 0.23506872355937958, 0.07803203910589218, 0.01783757284283638, 0.3617180287837982, 0.6821790933609009, 0.10957689583301544, 0.021405089646577835, 0.0013194032944738865, 0.3262178599834442, 0.19956855475902557, 0.10127562284469604, 0.02425910159945488, 53.5724983215332, 11.14799976348877, 20.513999938964844, 7.646999835968018, 0.6976000070571899, 3.135999917984009, 8.735199928283691, 1.561344861984253, 4.382207870483398, 1.552119255065918, 2.0827476978302, 0.41174352169036865, 2.1405646800994873, 2.1434431076049805, 1.0575830936431885, 0.21405088901519775, 0.5507324934005737, 0.34444767236709595, 0.25235894322395325, 0.07919883728027344, 0.30894747376441956, 0.3924208879470825, 0.16436536610126495, 0.0642152652144432, 0.13633833825588226, 0.40105608105659485, 0.43655624985694885, 0.1411217600107193, 0.0642152652144432, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.531877517700195, 4.360062599182129, -11.559911727905273, -1.412143588066101, 0.2974068522453308, 0.05451309680938721, 2.009644031524658, 0.01450908463448286, -0.015031803399324417, -0.002982592908665538, -0.003583504818379879, -2.6290086680091918e-05, 0.03148126229643822, -0.0003938369336538017, 0.0019504507072269917, 0.00047146776341833174, 0.04304562509059906, -0.023198341950774193, 0.000999993528239429, 0.00011037139483960345, 0.02997770719230175, 0.0830029547214508, 0.008113199844956398, 0.001500873127952218, -1.821344267227687e-05, 0.024462740868330002, 0.006823185831308365, 0.0026218302082270384, -0.0004866791714448482, 22.8038330078125, 0.38795995712280273, 10.62791919708252, -5.3558220863342285, -0.4465000331401825, 0.9220395088195801, -0.9228821396827698, -0.08386299014091492, 0.4262835681438446, 0.23147417604923248, 0.2469690889120102, 0.015178882516920567, 0.4026474356651306, 0.033281486481428146, 0.20187632739543915, 0.03490836173295975, 0.007779662497341633, -0.005877160467207432, -0.00037007028004154563, 0.0008312590653076768, 0.004655331373214722, -0.005666208919137716, -0.00035085881245322526, -0.0008382142405025661, 0.0013405517674982548, 0.012698587030172348, -0.009400630369782448, 0.0008240618626587093, 0.001511306967586279, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.1565817594528198, 1.1976302862167358, 0.7017434239387512, 0.7958948612213135, 0.2371850162744522, 0.2803930640220642, 0.25002482533454895, 0.11623477935791016, 0.07144118845462799, 0.029376743361353874, 0.04147970303893089, 0.009805891662836075, 0.05623093619942665, 0.04026453569531441, 0.011557518504559994, 0.004200982395559549, 0.06774751842021942, 0.047246623784303665, 0.007180451415479183, 0.006973078940063715, 0.10155270993709564, 0.1244225949048996, 0.023756923153996468, 0.007287957239896059, 0.00029106703004799783, 0.05996451899409294, 0.05633813887834549, 0.011723054572939873, 0.009038851596415043, 4.533318042755127, 2.1060054302215576, 3.3543334007263184, 2.0336272716522217, 0.32517775893211365, 1.2192809581756592, 1.2619154453277588, 0.4457590878009796, 0.8945345878601074, 0.4010765254497528, 0.537322461605072, 0.06116434559226036, 0.7578852772712708, 0.3365136682987213, 0.3924793303012848, 0.10047005861997604, 0.05896389111876488, 0.06925385445356369, 0.024467356503009796, 0.010486390441656113, 0.06016914173960686, 0.06514143943786621, 0.012720619328320026, 0.011857997626066208, 0.01576167717576027, 0.06013602390885353, 0.08161246031522751, 0.015865778550505638, 0.005574101582169533, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1642]}, "observation.state.tcp": {"min": [0.3617563545703888, 0.19215674698352814, 0.9362341165542603, -1.251162052154541, 1.174262285232544, -1.4714757204055786, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.30426928400993347, -0.23597431182861328, 0.9062123894691467, -0.587822437286377, 1.218245506286621, 0.7289848923683167, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.48572030663490295, 0.27802470326423645, 1.0518136024475098, -0.9173574447631836, 1.6881808042526245, -1.2124605178833008, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.501484751701355, -0.034063469618558884, 1.0518079996109009, 1.362372636795044, 2.697421073913574, 1.481321930885315, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4731197655200958, 0.2644180357456207, 0.9661774635314941, -1.1534345149993896, 1.5051660537719727, -1.3028055429458618, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3564544916152954, -0.09056547284126282, 0.9378631711006165, -0.024560535326600075, 1.9996669292449951, 1.0036758184432983, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.016644030809402466, 0.013735190033912659, 0.020591245964169502, 0.07325013726949692, 0.12304704636335373, 0.03144669160246849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03651909530162811, 0.04766203463077545, 0.027681808918714523, 0.36234885454177856, 0.23201610147953033, 0.17997373640537262, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1642]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.16286811232566833, 0.9717820882797241, -0.04118294268846512, -0.7699999809265137, 0.33392202854156494, 0.0, -0.021369047462940216, -0.2743673622608185, -0.29403430223464966, 0.0, -0.05588312819600105, 0.0, 0.0, 0.0, -0.16987918317317963, 0.0, 0.0, 0.0, -0.16382311284542084, -0.05022723227739334, 0.0, 0.0, 0.0, -0.15055616199970245, -0.18147844076156616, 0.0, 0.0, 1.0286457538604736, -0.7795298099517822, -0.23067589104175568, 0.9458861947059631, -1.410900354385376, -0.769114077091217, -0.30507892370224, 0.0, -0.2737005650997162, 0.0, -0.2826252579689026, -0.17242339253425598, 0.0, -0.09768468886613846, 0.0, 0.0, 0.0, -0.01523328572511673, 0.0, 0.0, 0.0, -0.03718835860490799, 0.0, 0.0, 0.0, -0.06920185685157776, -0.06096512824296951, 0.0, 0.0, 0.5617246031761169, -1.1069588661193848, 0.5241100788116455, -0.02953396923840046, -0.06704289466142654, 0.0, -0.8728349804878235], "max": [1.2191307544708252, -0.592288613319397, 0.0, 1.5700000524520874, 0.0, 0.040336642414331436, 0.7588028907775879, 1.054803490638733, 0.032799653708934784, 0.0, 0.0, 0.4822549521923065, 0.7359320521354675, 0.06252043694257736, 0.11607322096824646, 0.2910248339176178, 0.3944559097290039, 0.09808962792158127, 0.07843847572803497, 0.014083861373364925, 0.17985372245311737, 0.12320845574140549, 0.1511528193950653, 0.37691834568977356, 0.011428141966462135, 0.03179578483104706, 0.01985650509595871, 0.0978487879037857, 0.08375529944896698, 1.3187642097473145, -0.34918731451034546, -0.0005247963708825409, 1.5759831666946411, 0.22799137234687805, 0.22979000210762024, 0.5196537971496582, 1.5881922245025635, 0.0, 0.7757596969604492, 0.3490658402442932, 0.3635110557079315, 1.0996724367141724, 0.27363449335098267, 0.2876407504081726, 0.8861610889434814, 1.5707963705062866, 0.26692330837249756, 1.7453292608261108, 1.245832085609436, 1.5707963705062866, 0.23892825841903687, 1.7453292608261108, 1.2914201021194458, 0.08037291467189789, 1.5707963705062866, 0.33058351278305054, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.1068637371063232, 0.6840037107467651, 0.012501564808189869, 0.008423613384366035, 0.2723391354084015, -0.541053295135498], "mean": [1.1855149269104004, -0.658772349357605, -0.1482524871826172, 1.019809365272522, -0.03662202134728432, -0.1673242747783661, 0.46605047583580017, 1.0091474056243896, 0.015926392748951912, -0.2657736539840698, -0.2818015217781067, 0.46874386072158813, 0.4956457018852234, 0.04811617359519005, 0.08122403174638748, 0.28134241700172424, 0.2879537343978882, 0.06909584254026413, 0.006649012211710215, 0.009630772285163403, 0.11807919293642044, 0.05894174054265022, 0.0562392957508564, 0.35262420773506165, 0.0028512035496532917, -0.011395751498639584, -0.05966220796108246, 0.02342473343014717, 0.019211549311876297, 1.1135152578353882, -0.5398587584495544, -0.21973219513893127, 1.3809524774551392, -1.1572902202606201, -0.3267357349395752, 0.02128899283707142, 1.301607608795166, -0.20027226209640503, 0.49226459860801697, 0.01450263150036335, 0.06457316130399704, 0.8924100399017334, 0.18640953302383423, 0.07299990206956863, 0.5681530237197876, 1.464781641960144, 0.1790105402469635, 1.6165060997009277, 1.088848352432251, 1.4593243598937988, 0.14978311955928802, 1.6217806339263916, 1.125609278678894, 0.07071240991353989, 1.4550966024398804, 0.26000452041625977, 1.6352840662002563, 1.308200716972351, 0.561922013759613, -1.1069413423538208, 0.6645625829696655, -0.008853056468069553, -0.008209051564335823, 0.2209441214799881, -0.8571256399154663], "std": [0.02487962879240513, 0.01858222484588623, 0.02208475023508072, 0.08125130087137222, 0.005157950799912214, 0.12867480516433716, 0.09739246219396591, 0.1674424558877945, 0.007458153180778027, 0.04512099176645279, 0.04792727530002594, 0.07957907766103745, 0.21998858451843262, 0.01322606299072504, 0.03252458944916725, 0.047772474586963654, 0.13077805936336517, 0.0172702819108963, 0.009505859576165676, 0.004373413976281881, 0.07188255339860916, 0.042197246104478836, 0.05166418105363846, 0.06063326075673103, 0.0047299922443926334, 0.04247083142399788, 0.055954623967409134, 0.0231613889336586, 0.02049831487238407, 0.055241066962480545, 0.08584178239107132, 0.03122037835419178, 0.1320103406906128, 0.3380942940711975, 0.21079587936401367, 0.18411070108413696, 0.21840330958366394, 0.05465851351618767, 0.1815391480922699, 0.11999598145484924, 0.10449935495853424, 0.2219448685646057, 0.07225915789604187, 0.03812732174992561, 0.26832330226898193, 0.3775295317173004, 0.056042637676000595, 0.448287695646286, 0.30932483077049255, 0.39232075214385986, 0.05276086553931236, 0.4437282085418701, 0.31625232100486755, 0.01978752575814724, 0.4109914302825928, 0.07604075968265533, 0.40506449341773987, 0.32404813170433044, 0.0001025744786602445, 1.7847487470135093e-05, 0.026546336710453033, 0.010744192637503147, 0.008675207383930683, 0.0518689900636673, 0.05934624373912811], "count": [1642]}, "observation.state.tcp_pose": {"min": [0.3617563545703888, 0.19215674698352814, 0.9362341165542603, -1.251162052154541, 1.174262285232544, -1.4714757204055786, 0.30426928400993347, -0.23597431182861328, 0.9062123894691467, -0.587822437286377, 1.218245506286621, 0.7289848923683167], "max": [0.48572030663490295, 0.27802470326423645, 1.0518136024475098, -0.9173574447631836, 1.6881808042526245, -1.2124605178833008, 0.501484751701355, -0.034063469618558884, 1.0518079996109009, 1.362372636795044, 2.697421073913574, 1.481321930885315], "mean": [0.4731197655200958, 0.2644180357456207, 0.9661774635314941, -1.1534345149993896, 1.5051660537719727, -1.3028055429458618, 0.3564544916152954, -0.09056547284126282, 0.9378631711006165, -0.024560535326600075, 1.9996669292449951, 1.0036758184432983], "std": [0.016644030809402466, 0.013735190033912659, 0.020591245964169502, 0.07325013726949692, 0.12304704636335373, 0.03144669160246849, 0.03651909530162811, 0.04766203463077545, 0.027681808918714523, 0.36234885454177856, 0.23201610147953033, 0.17997373640537262], "count": [1642]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.1895589977502823, 0.9407002329826355, -1.2472875118255615, 1.132043480873108, -1.4752672910690308, 0.3043125569820404, -0.2398676723241806, 0.9058363437652588, -0.5880306363105774, 1.2187669277191162, 0.7288357615470886], "max": [0.484336793422699, 0.27805906534194946, 1.0518032312393188, -0.8719313740730286, 1.686058521270752, -1.2117711305618286, 0.5015436410903931, -0.033764224499464035, 1.0515716075897217, 1.3608062267303467, 2.697988986968994, 1.4838203191757202], "mean": [0.4731140434741974, 0.26439738273620605, 0.9662033915519714, -1.1530495882034302, 1.504751205444336, -1.302848219871521, 0.3565065562725067, -0.09069349616765976, 0.9379156231880188, -0.0249070692807436, 1.9993399381637573, 1.0035594701766968], "std": [0.01656326651573181, 0.013674644753336906, 0.02032426744699478, 0.07394053786993027, 0.12345845997333527, 0.03115212917327881, 0.03664713725447655, 0.04770221933722496, 0.027637861669063568, 0.36208203434944153, 0.2311854362487793, 0.18032068014144897], "count": [1642]}, "subtask_index": {"min": [737], "max": [762], "mean": [748.4311814859927], "std": [7.704923663800452], "count": [1642]}, "observation.tactile": {"min": [-0.031458210200071335, -3.093355189776048e-05, -6.850231147836894e-05, -0.001320051378570497, -0.0003087026998400688, -0.0004505986289586872, -0.010358257219195366, -2.040530671365559e-05, -4.1926174162654206e-05, -0.0012929675867781043, -1.8462762454873882e-05, -0.0002372299786657095, -0.017002437263727188, -3.450357689871453e-05, -7.732159428996965e-05, -0.0016956762410700321, -6.994928844505921e-05, -0.0003838127595372498, -0.004314369522035122, -3.2340496545657516e-05, -7.183379784692079e-05, -0.0005687111406587064, -9.380033588968217e-05, -8.821108349366114e-05, -0.0025858664885163307, -5.9184902056586e-05, -0.00013429806858766824, -0.0007817606092430651, -6.093842785048764e-06, -5.999335553497076e-05, -1.9725085496902466, -3.9332997403107584e-05, -8.686554792802781e-05, -0.17660671472549438, -0.014829402789473534, -0.029779823496937752, -4.592339038848877, 0.0, 0.0, -0.3414062261581421, -0.02710152417421341, -0.09373531490564346, -0.01108967699110508, -4.9387348553864285e-05, -0.00011176851694472134, -0.0029032910242676735, -2.8033671696903184e-05, -0.00022830796660855412, -0.01183529756963253, -4.430201806826517e-05, -9.643892553867772e-05, -0.001062667230144143, -6.677323108306155e-05, -0.0002642610634211451, -0.009090226143598557, -3.928274236386642e-05, -8.728654938749969e-05, -0.0011868393048644066, -4.393132257973775e-05, -0.00019957796030212194], "max": [0.00029773821006529033, 0.024442773312330246, 0.07437744736671448, 1.3022645362070762e-06, 6.513721018563956e-05, 5.181615051697008e-06, 0.007892364636063576, 0.02333902381360531, 0.06743287295103073, 7.979720066941809e-07, 0.000261834473349154, 6.375585508067161e-05, 0.0002656544093042612, 0.02532881498336792, 0.07649032771587372, 1.4430930832531885e-06, 0.00013229341129772365, 5.587444775301265e-06, 0.0002505240263417363, 0.010259164497256279, 0.0295085608959198, 1.3379096799326362e-06, 3.0962281016400084e-05, 5.252140454103937e-06, 0.00048049516044557095, 0.015236832201480865, 0.04402624070644379, 2.561945166235091e-06, 3.872183879138902e-05, 9.100446732190903e-06, 7.458248138427734, 6.203924655914307, 7.373940944671631, 1.6020552493500873e-06, 0.021943548694252968, 0.15142671763896942, 7.190356731414795, 10.229124069213867, 18.660070419311523, 0.0, 0.00872681476175785, 0.13983815908432007, 0.11624579131603241, 0.055006589740514755, 0.16223597526550293, 2.0469201444939245e-06, 0.0007557413773611188, 0.0018266618717461824, 0.011645214632153511, 0.02234259806573391, 0.06454457342624664, 1.787994278856786e-06, 0.00023242230236064643, 0.000128077736007981, 0.0017847672570496798, 0.018729178234934807, 0.05341779813170433, 1.640678419789765e-06, 0.00011187070049345493, 2.390520239714533e-05], "mean": [-0.0016766984481364489, 0.0023674757685512304, 0.007097882684320211, -0.0001327255740761757, -1.5920251826173626e-05, -2.5249868485843763e-05, -0.0007605910068377852, 0.00292364158667624, 0.008653014898300171, -0.0001462297368561849, 2.4238048354163766e-05, -2.128015876223799e-05, -0.0007718856795690954, 0.0015869162743911147, 0.004629580769687891, -8.52649100124836e-05, 3.7296454138413537e-06, -1.5355853975052014e-05, -7.164633757383854e-07, 0.00040312233613803983, 0.0012107305228710175, -2.2530801288667135e-05, -1.557951804898039e-06, 6.992021326368558e-07, 0.00025389916845597327, 0.00040232358151115477, 0.0011867460561916232, -2.3872629753896035e-05, -3.520937070788932e-07, 5.080807568447199e-06, 0.9749224781990051, 0.9391295909881592, 1.2061567306518555, -0.025005798786878586, 0.001762263709679246, 0.020148377865552902, 0.12265802919864655, 1.785607099533081, 3.388780117034912, -0.07040119171142578, -0.003615605179220438, 0.003080585040152073, 0.006868098862469196, 0.0055724335834383965, 0.016954367980360985, -0.00030766826239414513, 7.49845858081244e-05, 9.759399108588696e-05, -0.0012603211216628551, 0.004323074594140053, 0.012369681149721146, -0.0002045526634901762, 4.437682036950719e-06, -2.483331445546355e-05, -0.0011355024762451649, 0.003133777529001236, 0.009169701486825943, -0.0001904842647491023, 6.354074685077649e-06, -2.5891637051245198e-05], "std": [0.003427703632041812, 0.003648958867415786, 0.010966439731419086, 0.0002018594677792862, 4.546151467366144e-05, 4.963724495610222e-05, 0.001736807287670672, 0.00364432274363935, 0.010719379410147667, 0.00019458559108898044, 3.6353463656269014e-05, 3.503443440422416e-05, 0.0020604312885552645, 0.0033374547492712736, 0.009747248142957687, 0.00019664462888613343, 1.425051686965162e-05, 4.420209734234959e-05, 0.0005622985772788525, 0.001157074235379696, 0.0033982046879827976, 6.449862848967314e-05, 7.79968650022056e-06, 1.0089516763400752e-05, 0.0003754294302780181, 0.0013194488128647208, 0.0037524765357375145, 7.425264630001038e-05, 4.288040145183913e-06, 8.724183317099232e-06, 2.1298537254333496, 1.5720099210739136, 1.859447717666626, 0.04046298563480377, 0.006858761887997389, 0.04313115403056145, 1.9853453636169434, 2.651292085647583, 5.405091285705566, 0.10825995355844498, 0.006645068060606718, 0.038615480065345764, 0.01588369533419609, 0.008855856955051422, 0.02685491554439068, 0.00048146815970540047, 0.00013384156045503914, 0.0002414271148154512, 0.002022060565650463, 0.003977208863943815, 0.011407432146370411, 0.00019859599706251174, 2.700956611079164e-05, 3.7475794670172036e-05, 0.0016091478755697608, 0.0036196524742990732, 0.010454708710312843, 0.000227212774916552, 1.6306783436448313e-05, 3.495083001325838e-05], "count": [1642]}, "timestamp": {"min": [0.0], "max": [54.7], "mean": [27.349999999999998], "std": [15.800149436705407], "count": [1642]}, "frame_index": {"min": [0], "max": [1641], "mean": [820.5], "std": [474.00448310116224], "count": [1642]}, "episode_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1642]}, "index": {"min": [38485], "max": [40126], "mean": [39305.5], "std": [474.00448310116224], "count": [1642]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1642]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5383393168449402]], [[0.5381312370300293]], [[0.5404465198516846]]], "std": [[[0.30169445276260376]], [[0.301904559135437]], [[0.3028949201107025]]], "count": [1642]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25093182921409607]], [[0.25103288888931274]], [[0.25034451484680176]]], "std": [[[0.15706902742385864]], [[0.15809252858161926]], [[0.1572996824979782]]], "count": [1642]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.19279013574123383]], [[0.19266845285892487]], [[0.19239269196987152]]], "std": [[[0.1297326385974884]], [[0.12963351607322693]], [[0.1330161839723587]]], "count": [1642]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5396409630775452]], [[0.5396538972854614]], [[0.5416828989982605]]], "std": [[[0.30220651626586914]], [[0.3025560677051544]], [[0.30410316586494446]]], "count": [1642]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5764706134796143]], [[0.5764706134796143]], [[0.5764706134796143]]], "mean": [[[0.0011724407086148858]], [[0.0011724407086148858]], [[0.0011724407086148858]]], "std": [[[0.020457156002521515]], [[0.020457156002521515]], [[0.020457156002521515]]], "count": [1642]}, "observation.images.tactile_raw": {"min": [[[0.019607843831181526]], [[0.019607843831181526]], [[0.019607843831181526]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4680807888507843]], [[0.4680807888507843]], [[0.4680807888507843]]], "std": [[[0.2350410372018814]], [[0.2350410372018814]], [[0.2350410372018814]]], "count": [1642]}}}
+{"episode_index": 25, "stats": {"observation.state": {"min": [1.0499863624572754, -0.7800251245498657, -0.1505981981754303, 0.9512008428573608, -0.11758621782064438, -0.7700359225273132, 0.29681330919265747, 0.006208965554833412, -0.0037916989531368017, -0.2728896737098694, -0.2800985872745514, 0.003073705593124032, -0.0678352639079094, 0.0002153858367819339, 0.003421531757339835, 0.0008522588177584112, -0.15886056423187256, -0.00028211146127432585, 0.003461242653429508, 0.0008367390255443752, -0.10712723433971405, -0.02266678214073181, 0.003049595281481743, 0.0007941703661344945, 0.013061461970210075, -0.141684889793396, -0.038268279284238815, 0.0035520107485353947, 0.0008646746282465756, 1.0504302978515625, -0.7795315980911255, -0.22772027552127838, 0.9037876129150391, -1.2458164691925049, -0.7692311406135559, -0.07964008301496506, 0.006233176216483116, -0.2223423421382904, 0.0031111477874219418, -0.20380346477031708, 0.0034871259704232216, 0.005103516858071089, -0.09863275289535522, 0.003096042899414897, 0.0007742163725197315, 0.003712339559569955, -0.023544764146208763, 0.002715951530262828, 0.0008562495931982994, -0.0009366098674945533, -0.03024282492697239, 0.003517972771078348, 0.0008633443503640592, 0.005569023080170155, -0.06988461315631866, -0.023261671885848045, 0.0034718795213848352, 0.000872656237334013, 0.5614369511604309, -1.1070547103881836, 0.5442755818367004, -0.01629854552447796, -0.050813112407922745, 0.0, -0.8728350400924683], "max": [1.2094216346740723, -0.5785973072052002, 1.174453973362688e-05, 1.570007085800171, 3.5952674807049334e-05, 0.014451177790760994, 0.6903322339057922, 1.050452709197998, 0.046333372592926025, 0.0018523697508499026, -0.0053834253922104836, 0.4796246588230133, 0.7091922760009766, 0.09131892770528793, 0.14944469928741455, 0.29051560163497925, 0.3814503252506256, 0.1287951022386551, 0.14484354853630066, 0.01160038635134697, 0.18797126412391663, 0.13411718606948853, 0.22278815507888794, 0.3692120611667633, 0.013659786432981491, 0.10912531614303589, 0.03681380674242973, 0.285928338766098, 0.24894294142723083, 1.2959356307983398, -0.2114705741405487, -0.0008265519863925874, 1.569016933441162, 0.2231261283159256, -0.06373018771409988, 0.5395774841308594, 1.5516977310180664, 0.00010388949885964394, 0.7450929284095764, 0.31429123878479004, 0.5497121810913086, 1.0467232465744019, 0.24503816664218903, 0.755225658416748, 0.9437928199768066, 1.4687789678573608, 0.24992068111896515, 1.6556774377822876, 1.3082079887390137, 1.4686272144317627, 0.201263427734375, 1.6548470258712769, 1.3082189559936523, 0.062140144407749176, 1.4686024188995361, 0.3112463355064392, 1.6546449661254883, 1.3081790208816528, 0.5628750920295715, -1.106191873550415, 0.6844430565834045, 0.007286408916115761, 0.013134710490703583, 0.23671241104602814, -0.57792729139328], "mean": [1.1807140111923218, -0.6690532565116882, -0.140457421541214, 0.9998502731323242, -0.11009334772825241, -0.16237689554691315, 0.4228268265724182, 0.9811049699783325, 0.027904249727725983, -0.2621443569660187, -0.26935791969299316, 0.4619559943675995, 0.4731156527996063, 0.060956839472055435, 0.10398214310407639, 0.27683818340301514, 0.2517569959163666, 0.08301646262407303, 0.03604006767272949, 0.007192704360932112, 0.1138589009642601, 0.07339965552091599, 0.08778192847967148, 0.34786275029182434, 0.013378910720348358, 0.0023322077468037605, -0.012226910330355167, 0.06248024106025696, 0.054792750626802444, 1.1125280857086182, -0.5136117339134216, -0.21815229952335358, 1.2475541830062866, -1.138145089149475, -0.35524576902389526, 0.16722069680690765, 1.303847312927246, -0.16758684813976288, 0.4755721986293793, -0.01898098550736904, 0.11911837011575699, 0.817000150680542, 0.1768505722284317, 0.08342882245779037, 0.5310497283935547, 1.3465601205825806, 0.17585302889347076, 1.5034817457199097, 1.137457013130188, 1.3404755592346191, 0.14372286200523376, 1.5033751726150513, 1.1776931285858154, 0.055642154067754745, 1.331381916999817, 0.26210126280784607, 1.5277001857757568, 1.2079310417175293, 0.5617498755455017, -1.1068540811538696, 0.662187933921814, -0.012141726911067963, -0.010603420436382294, 0.18693314492702484, -0.8551439642906189], "std": [0.030402056872844696, 0.022753240540623665, 0.02429337427020073, 0.09754014015197754, 0.018475648015737534, 0.14911118149757385, 0.11127935349941254, 0.17674332857131958, 0.008877955377101898, 0.04839817434549332, 0.04839618504047394, 0.08415816724300385, 0.24189099669456482, 0.014548780396580696, 0.04007866233587265, 0.05079567804932594, 0.14699451625347137, 0.022962111979722977, 0.047286808490753174, 0.0042111813090741634, 0.07309363782405853, 0.039835087954998016, 0.06275088340044022, 0.06523405015468597, 0.00012291029270272702, 0.06654955446720123, 0.02143590711057186, 0.0859551876783371, 0.07405214011669159, 0.03915642946958542, 0.12878353893756866, 0.03371832147240639, 0.16271311044692993, 0.32047829031944275, 0.14822807908058167, 0.15558558702468872, 0.23227518796920776, 0.03861289843916893, 0.182391956448555, 0.09600131213665009, 0.12135833501815796, 0.22216637432575226, 0.06865523010492325, 0.11597179621458054, 0.2515808939933777, 0.38358500599861145, 0.05552612990140915, 0.46791911125183105, 0.36057084798812866, 0.39699265360832214, 0.049087200313806534, 0.4669431447982788, 0.3683646619319916, 0.015617904253304005, 0.4242018759250641, 0.08027153462171555, 0.4140916168689728, 0.32652273774147034, 0.00016713523655198514, 7.170705066528171e-05, 0.0279143787920475, 0.005534290801733732, 0.011806176044046879, 0.047181446105241776, 0.06141645088791847], "count": [1285]}, "observation.state.joint_torque": {"min": [-51.640499114990234, -6.519000053405762, -20.22800064086914, -6.025000095367432, -0.4927999973297119, -0.6528000235557556, 0.2727999985218048, -0.7921341061592102, -0.45592281222343445, -0.306944340467453, -0.306944340467453, -0.08633331209421158, -0.41065070033073425, -0.24082553386688232, -0.12119869887828827, -0.032821137458086014, -0.2801635265350342, -0.24274446070194244, -0.0879935771226883, -0.038529157638549805, -0.4586239159107208, -0.44423192739486694, -0.09961536526679993, -0.045664187520742416, -0.002638806588947773, -0.4164074659347534, -0.37515053153038025, -0.07803203910589218, -0.03710215538740158, 1.4234999418258667, -10.368000030517578, -8.28600025177002, -8.9399995803833, -2.289599895477295, -5.828000068664551, -3.5727999210357666, -1.619926929473877, -0.6367637515068054, -0.4858916103839874, -0.7940786480903625, -0.18428844213485718, -0.5795164108276367, -0.8500853180885315, -0.1776474118232727, -0.21405088901519775, -0.7531794309616089, -0.3099069595336914, -0.3968012034893036, -0.11844149231910706, -0.8817476034164429, -0.3195016086101532, -0.47317299246788025, -0.1020309254527092, -0.13985675573349, -0.7704497575759888, -0.5536109209060669, -0.4764934778213501, -0.09275539219379425, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-15.07349967956543, 14.640000343322754, -4.966000080108643, 4.748000144958496, 1.8871999979019165, 1.2960000038146973, 3.7160000801086426, 0.5234197974205017, 0.4979493021965027, 0.3392542600631714, 0.3392542600631714, 0.12285894900560379, 0.36363694071769714, 0.21108213067054749, 0.11123716086149216, 0.01712406985461712, 0.393380343914032, 0.22067677974700928, 0.10459613054990768, 0.015697065740823746, 0.2935960590839386, 0.5718407034873962, 0.11787818372249603, 0.022118592634797096, 0.002638806588947773, 0.7608551383018494, 0.4240832030773163, 0.22745507955551147, 0.021405089646577835, 47.02949905395508, 16.81049919128418, 18.766000747680664, 6.659999847412109, 0.7911999821662903, 2.7311999797821045, 4.849599838256836, 1.7574678659439087, 2.8730781078338623, 1.4576748609542847, 1.759648323059082, 0.3287307322025299, 2.1463215351104736, 2.035983085632324, 1.0559228658676147, 0.21476440131664276, 0.20724427700042725, 0.2177983820438385, 0.08633331209421158, 0.044950686395168304, 0.20724427700042725, 0.21491998434066772, 0.13614100217819214, 0.05708024278283119, 0.11390847712755203, 0.32525837421417236, 0.3290962278842926, 0.10127562284469604, 0.04423718526959419, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.476444244384766, 4.548707485198975, -11.510315895080566, -1.3673691749572754, 0.24254938960075378, 0.18916161358356476, 2.0248754024505615, 0.04520486295223236, -0.004221965558826923, -0.001404185313731432, -0.001270733424462378, 0.00022610388987232, 0.04951955005526543, 0.0026723125483840704, 0.005894239526242018, 0.0002343174273846671, 0.050839707255363464, -0.029650725424289703, 0.006122926250100136, -0.00226044375449419, 0.012785102240741253, 0.09357880055904388, 0.007060958072543144, 0.0025758310221135616, -6.571339326910675e-05, 0.09396258741617203, 0.010979702696204185, 0.021894710138440132, 0.0014464403502643108, 23.728862762451172, 0.867950975894928, 10.027856826782227, -4.42403507232666, -0.40207648277282715, 0.9324986338615417, -0.8916168808937073, 0.0542105995118618, 0.4023325443267822, 0.16280308365821838, 0.11254020780324936, 0.021994199603796005, 0.465556800365448, 0.03688748553395271, 0.22948607802391052, 0.04129655286669731, 0.004038654733449221, -0.012734387069940567, 0.00018346644355915487, 0.0006457623094320297, -0.0042179059237241745, -0.01490566786378622, -0.0002299820916960016, 0.0006951784016564488, -1.1633134818112012e-05, 0.006527342367917299, -0.015942782163619995, 8.269085083156824e-05, 0.0008400999358855188, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.3012953996658325, 1.0811775922775269, 0.7375690340995789, 0.8156182765960693, 0.26730281114578247, 0.279950886964798, 0.2667112946510315, 0.11505008488893509, 0.07724136114120483, 0.0347924642264843, 0.03511962667107582, 0.011227930895984173, 0.06431356072425842, 0.045485720038414, 0.017900271341204643, 0.00522746192291379, 0.07201896607875824, 0.05315454676747322, 0.014364879578351974, 0.0064592547714710236, 0.10897739231586456, 0.12971660494804382, 0.020993957296013832, 0.007573993876576424, 0.00032164627918973565, 0.13012491166591644, 0.09377613663673401, 0.042371056973934174, 0.010265427641570568, 4.631198883056641, 2.3249289989471436, 3.147517204284668, 1.5970261096954346, 0.35960572957992554, 1.1755023002624512, 1.0901703834533691, 0.4284633696079254, 0.7664295434951782, 0.31761035323143005, 0.3356461226940155, 0.06394297629594803, 0.7483745813369751, 0.34466293454170227, 0.38951998949050903, 0.09912335872650146, 0.06395893543958664, 0.054810531437397, 0.01357756182551384, 0.01055294368416071, 0.06262052804231644, 0.05090175196528435, 0.016918499022722244, 0.010988389141857624, 0.016282979398965836, 0.06860177963972092, 0.06759525835514069, 0.027757463976740837, 0.006954338867217302, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1285]}, "observation.state.tcp": {"min": [0.36175474524497986, 0.18791404366493225, 0.9356638789176941, -1.2089626789093018, 1.217911958694458, -1.3489317893981934, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.33660346269607544, -0.2350461632013321, 0.9029148817062378, -0.382529079914093, 1.2185264825820923, 0.6849336624145508, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.48498255014419556, 0.2987268269062042, 1.0518137216567993, -0.8370763063430786, 1.7515103816986084, -1.2000465393066406, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49124863743782043, -0.002673904411494732, 1.05167818069458, 1.3914649486541748, 2.172203540802002, 1.4037262201309204, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4732323884963989, 0.27454832196235657, 0.9640007615089417, -1.1064633131027222, 1.5627069473266602, -1.242380976676941, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.38091328740119934, -0.10811342298984528, 0.9325786232948303, -0.04715840891003609, 1.9065475463867188, 1.0108569860458374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01970406249165535, 0.02033333107829094, 0.021714499220252037, 0.07937481999397278, 0.15516556799411774, 0.02670547366142273, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.031756218522787094, 0.051326535642147064, 0.03090108186006546, 0.35704323649406433, 0.1978609561920166, 0.161397323012352, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1285]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.15062004327774048, 0.951034665107727, -0.11754325032234192, -0.7699999809265137, 0.2966572344303131, 0.0, 0.0, -0.27449676394462585, -0.28818589448928833, 0.0, -0.10315824300050735, 0.0, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.13836528360843658, -0.027792759239673615, 0.0, 0.0, 0.0, -0.15012450516223907, -0.15463382005691528, 0.0, 0.0, 1.0502783060073853, -0.7795179486274719, -0.2277037501335144, 0.9037394523620605, -1.2458032369613647, -0.7691235542297363, -0.07972986996173859, 0.0, -0.2223123162984848, 0.0, -0.20621353387832642, -0.09419062733650208, 0.0, -0.09854764491319656, 0.0, 0.0, 0.0, -0.02721751481294632, 0.0, 0.0, 0.0, -0.048213787376880646, 0.0, 0.0, 0.0, -0.06764853000640869, -0.035079069435596466, 0.0, 0.0, 0.5617246031761169, -1.1069588661193848, 0.5442397594451904, -0.016642022877931595, -0.05789238587021828, 0.0, -0.8726966381072998], "max": [1.2094616889953613, -0.574940025806427, 6.938893903907228e-18, 1.5700000524520874, 0.0, 0.014588380232453346, 0.6903018951416016, 1.0552828311920166, 0.051974229514598846, 0.0, 0.0, 0.4822549521923065, 0.7111011743545532, 0.09396689385175705, 0.154306560754776, 0.2947640120983124, 0.38789141178131104, 0.13634341955184937, 0.1507590115070343, 0.014208459295332432, 0.19014009833335876, 0.14180797338485718, 0.22622059285640717, 0.3712233603000641, 0.01719975471496582, 0.11836998909711838, 0.03807251900434494, 0.2936806082725525, 0.2517262399196625, 1.2961398363113403, -0.2114529013633728, -0.0004434818692971021, 1.5688984394073486, 0.22330424189567566, -0.06323165446519852, 0.5401037335395813, 1.5584521293640137, 0.0, 0.7504487037658691, 0.3490658402442932, 0.5558337569236755, 1.0491470098495483, 0.24180442094802856, 0.8022533059120178, 0.9423916339874268, 1.5707963705062866, 0.2522546052932739, 1.7453292608261108, 1.3663451671600342, 1.5707963705062866, 0.20470112562179565, 1.7453292608261108, 1.3962633609771729, 0.07745068520307541, 1.5707963705062866, 0.33403486013412476, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.1068639755249023, 0.6848486065864563, 0.007802972570061684, 0.013747972436249256, 0.23711787164211273, -0.5781234502792358], "mean": [1.180740475654602, -0.668965756893158, -0.140474334359169, 0.999729573726654, -0.11010144650936127, -0.16262194514274597, 0.4227794110774994, 0.9895193576812744, 0.02653692476451397, -0.26334673166275024, -0.2744620442390442, 0.46424412727355957, 0.47672897577285767, 0.06137724220752716, 0.1076105386018753, 0.2795907258987427, 0.25583651661872864, 0.08416486531496048, 0.035576388239860535, 0.008127530105412006, 0.11632217466831207, 0.07645584642887115, 0.09037251770496368, 0.34940800070762634, 0.005952364765107632, 0.00519913574680686, -0.03279920667409897, 0.06535489857196808, 0.056012675166130066, 1.112618327140808, -0.5136204957962036, -0.21818353235721588, 1.2473005056381226, -1.1393358707427979, -0.3554464280605316, 0.16744548082351685, 1.303285837173462, -0.16668258607387543, 0.47421205043792725, -0.017951253801584244, 0.10486651211977005, 0.824515163898468, 0.17863240838050842, 0.08616212010383606, 0.5571184158325195, 1.4395774602890015, 0.17564934492111206, 1.5860000848770142, 1.1453181505203247, 1.433286190032959, 0.14331725239753723, 1.589799165725708, 1.1995220184326172, 0.068168506026268, 1.4267350435256958, 0.26284995675086975, 1.6088838577270508, 1.2870850563049316, 0.5617524981498718, -1.1069436073303223, 0.66222083568573, -0.012181831523776054, -0.010629751719534397, 0.18694324791431427, -0.8550397753715515], "std": [0.030333109200000763, 0.022860879078507423, 0.02428337372839451, 0.09758899360895157, 0.01847384124994278, 0.14950858056545258, 0.11113521456718445, 0.19062106311321259, 0.009110751561820507, 0.05187613144516945, 0.05413592979311943, 0.09144904464483261, 0.246907040476799, 0.01564253494143486, 0.04231715202331543, 0.05513089522719383, 0.1517573744058609, 0.024536114186048508, 0.0514923557639122, 0.006016894709318876, 0.07616914808750153, 0.04185577109456062, 0.06549463421106339, 0.06980009377002716, 0.006890790071338415, 0.06970696151256561, 0.053136009722948074, 0.08680811524391174, 0.07442314177751541, 0.03917966037988663, 0.12860064208507538, 0.033644963055849075, 0.16274546086788177, 0.31794774532318115, 0.14873945713043213, 0.15582916140556335, 0.247589573264122, 0.04167899861931801, 0.18612556159496307, 0.10315366834402084, 0.13709771633148193, 0.23061370849609375, 0.07060498744249344, 0.1173250824213028, 0.2733406126499176, 0.418173223733902, 0.056216925382614136, 0.4950655698776245, 0.3622475862503052, 0.4311833381652832, 0.051773905754089355, 0.49280810356140137, 0.37799760699272156, 0.021475916728377342, 0.4539792239665985, 0.08047957718372345, 0.44612109661102295, 0.35689979791641235, 0.00015142172924242914, 1.587135557201691e-05, 0.02815973199903965, 0.005574133712798357, 0.012027479708194733, 0.047472622245550156, 0.06172386184334755], "count": [1285]}, "observation.state.tcp_pose": {"min": [0.36175474524497986, 0.18791404366493225, 0.9356638789176941, -1.2089626789093018, 1.217911958694458, -1.3489317893981934, 0.33660346269607544, -0.2350461632013321, 0.9029148817062378, -0.382529079914093, 1.2185264825820923, 0.6849336624145508], "max": [0.48498255014419556, 0.2987268269062042, 1.0518137216567993, -0.8370763063430786, 1.7515103816986084, -1.2000465393066406, 0.49124863743782043, -0.002673904411494732, 1.05167818069458, 1.3914649486541748, 2.172203540802002, 1.4037262201309204], "mean": [0.4732323884963989, 0.27454832196235657, 0.9640007615089417, -1.1064633131027222, 1.5627069473266602, -1.242380976676941, 0.38091328740119934, -0.10811342298984528, 0.9325786232948303, -0.04715840891003609, 1.9065475463867188, 1.0108569860458374], "std": [0.01970406249165535, 0.02033333107829094, 0.021714499220252037, 0.07937481999397278, 0.15516556799411774, 0.02670547366142273, 0.031756218522787094, 0.051326535642147064, 0.03090108186006546, 0.35704323649406433, 0.1978609561920166, 0.161397323012352], "count": [1285]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.18351002037525177, 0.9378824830055237, -1.208855390548706, 1.2178406715393066, -1.3521054983139038, 0.336519330739975, -0.2338436394929886, 0.9032991528511047, -0.3834497332572937, 1.218590497970581, 0.6845124959945679], "max": [0.48461371660232544, 0.29894065856933594, 1.0518032312393188, -0.8371076583862305, 1.7473578453063965, -1.199841022491455, 0.4911254346370697, -0.0025047154631465673, 1.0517441034317017, 1.3922717571258545, 2.1733334064483643, 1.4034161567687988], "mean": [0.47324338555336, 0.2745441496372223, 0.964003324508667, -1.1064151525497437, 1.5626076459884644, -1.2421317100524902, 0.38092923164367676, -0.10815859586000443, 0.9326168894767761, -0.04853377118706703, 1.9063174724578857, 1.0104992389678955], "std": [0.019690725952386856, 0.020336566492915154, 0.02128748781979084, 0.07865743339061737, 0.15470579266548157, 0.026390034705400467, 0.03184426203370094, 0.051295336335897446, 0.030832534655928612, 0.35537880659103394, 0.1974325031042099, 0.16111263632774353], "count": [1285]}, "subtask_index": {"min": [64], "max": [786], "mean": [760.4023346303502], "std": [98.35424339088314], "count": [1285]}, "observation.tactile": {"min": [-0.022730641067028046, -3.493879557936452e-05, -7.801479659974575e-05, -0.0011217263527214527, -0.000261398236034438, -0.0003308710583951324, -0.01030836533755064, -2.6674708351492882e-05, -5.587778287008405e-05, -0.001489473506808281, -6.255686912481906e-06, -0.00023385509848594666, -0.015539356507360935, -3.761943298741244e-05, -8.260270988103002e-05, -0.00204517412930727, -1.9519840861903504e-05, -0.00036210555117577314, -0.06963809579610825, -3.0344242986757308e-05, -6.733861664542928e-05, -0.0008990279166027904, -0.00020230960217304528, -0.0008749181288294494, -0.00115975399967283, -5.369332939153537e-05, -0.00012234170571900904, -0.000796567415818572, -0.00012542404874693602, -3.264832776039839e-05, -1.4983172416687012, -3.9110847865231335e-05, -8.636974234832451e-05, -0.14788572490215302, -0.012295672670006752, -0.01699579879641533, -5.553047180175781, 0.0, 0.0, -0.3519861400127411, -0.034812141209840775, -0.10171198844909668, -0.004705059342086315, -4.895345773547888e-05, -0.00011061110126320273, -0.001887151738628745, -3.144840957247652e-05, -7.954052125569433e-05, -0.01195121556520462, -4.12780063925311e-05, -9.15548880584538e-05, -0.0014116683742031455, -9.143706120084971e-05, -0.0002764023083727807, -0.008333790116012096, -3.8198115362320095e-05, -8.469642489217222e-05, -0.0016227175947278738, -7.146951975300908e-05, -0.00017294712597504258], "max": [0.00027658240287564695, 0.022710785269737244, 0.06587690860033035, 1.4990687304816674e-06, 8.493698260281235e-05, 5.8782475207408424e-06, 0.018135536462068558, 0.024099715054035187, 0.0706377774477005, 1.0453840104673873e-06, 0.00030914245871827006, 0.00031451816903427243, 0.0005358622292988002, 0.02983633056282997, 0.08523790538311005, 1.5458394955203403e-06, 0.00010243963333778083, 6.040786502126139e-06, 0.005029013846069574, 0.02667393907904625, 0.06848017871379852, 1.244430450242362e-06, 0.0001998079096665606, 2.495678563718684e-05, 0.1722138375043869, 0.02599264681339264, 0.050961099565029144, 2.3381553546641953e-06, 0.00010566227865638211, 0.0027092851232737303, 5.1625752449035645, 5.956630229949951, 7.753721714019775, 1.5932284895825433e-06, 0.021906845271587372, 0.10432165861129761, 4.829904556274414, 11.118051528930664, 19.539831161499023, 0.0, 0.010680911131203175, 0.09609317034482956, 0.05757606774568558, 0.0337756983935833, 0.0983591303229332, 2.044930624833796e-06, 0.0005220146849751472, 0.0007905930979177356, 0.00750377494841814, 0.030674483627080917, 0.08795204758644104, 1.705393856354931e-06, 0.0001878623297670856, 7.820084283594042e-05, 0.0024289379362016916, 0.025910181924700737, 0.07199686765670776, 1.5938509250190691e-06, 0.0001514501345809549, 1.212664574268274e-05], "mean": [-0.0012744595296680927, 0.0017868857830762863, 0.005286982748657465, -9.424845484318212e-05, -1.3910516827309038e-05, -1.7194153770105913e-05, -0.0006491859094239771, 0.001704310649074614, 0.005029221065342426, -9.865742322290316e-05, 1.0946495422103908e-05, -1.626469565962907e-05, -0.0003281676326878369, 0.0011057696538046002, 0.0032700810115784407, -7.199782703537494e-05, 2.1467428723553894e-06, -8.24168910185108e-06, -0.0008261531475000083, 0.00127323972992599, 0.003596433438360691, -5.552953007281758e-05, -2.713527464948129e-06, -9.282239261665381e-06, 0.002035971963778138, 0.003125663846731186, 0.00887360144406557, -0.0001818943565012887, 2.7218649847782217e-05, 2.5280269255745225e-05, 0.6011707782745361, 1.1616740226745605, 1.4918584823608398, -0.028316348791122437, 0.002301204949617386, 0.011834646575152874, -0.41161707043647766, 1.9036368131637573, 3.652433156967163, -0.07593222707509995, -0.004318597260862589, -0.006459185853600502, 0.0010800237068906426, 0.003094876417890191, 0.009089442901313305, -0.00018600876501295716, 2.7009369659936056e-05, 1.0696577191993129e-05, -0.0011325911618769169, 0.00603441009297967, 0.01752987504005432, -0.00027524231700226665, 1.2881724614999257e-05, -2.7796855647466145e-05, -0.0007786844507791102, 0.002607164438813925, 0.0076566897332668304, -0.00015699623327236623, 5.581683126365533e-06, -1.8392867787042633e-05], "std": [0.003135394537821412, 0.0032825202215462923, 0.00971289910376072, 0.0001754340046318248, 3.705394919961691e-05, 4.4812593841925263e-05, 0.001788577763363719, 0.0035316909197717905, 0.01041706744581461, 0.00021408805332612246, 2.4581864636274986e-05, 4.0939889004221186e-05, 0.0016601905226707458, 0.003277823096141219, 0.00963599979877472, 0.0002176357083953917, 1.1487823030620348e-05, 3.829662091447972e-05, 0.004945831838995218, 0.0029814227018505335, 0.008209727704524994, 0.00012277052155695856, 3.2860923965927213e-05, 5.831181624671444e-05, 0.012540750205516815, 0.0025260322727262974, 0.006306758150458336, 0.00011998999980278313, 1.9750568753806874e-05, 0.00019803602481260896, 1.275253176689148, 1.774982213973999, 2.1593425273895264, 0.0432562455534935, 0.005715548992156982, 0.026163313537836075, 1.3528317213058472, 2.57847261428833, 5.3297600746154785, 0.10685209184885025, 0.007501761894673109, 0.025439567863941193, 0.0037903033662587404, 0.004427631385624409, 0.013050603680312634, 0.00026755229919217527, 5.301476994645782e-05, 5.256873555481434e-05, 0.002280830405652523, 0.0055249352008104324, 0.015882423147559166, 0.0002685560320969671, 3.1684950954513624e-05, 5.166415576240979e-05, 0.0015268285060301423, 0.0035952997859567404, 0.010296461172401905, 0.0002316078171133995, 2.2123611415736377e-05, 3.145597656839527e-05], "count": [1285]}, "timestamp": {"min": [0.0], "max": [42.8], "mean": [21.4], "std": [12.364914520978749], "count": [1285]}, "frame_index": {"min": [0], "max": [1284], "mean": [642.0], "std": [370.9474356293625], "count": [1285]}, "episode_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [1285]}, "index": {"min": [40127], "max": [41411], "mean": [40769.0], "std": [370.9474356293625], "count": [1285]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1285]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5394119024276733]], [[0.539135754108429]], [[0.5410587191581726]]], "std": [[[0.29939600825309753]], [[0.29957595467567444]], [[0.30050960183143616]]], "count": [1285]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24848932027816772]], [[0.24861495196819305]], [[0.2480209916830063]]], "std": [[[0.15699142217636108]], [[0.15790781378746033]], [[0.1571035385131836]]], "count": [1285]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.1904267519712448]], [[0.1909383237361908]], [[0.18998530507087708]]], "std": [[[0.12827332317829132]], [[0.12846256792545319]], [[0.13145102560520172]]], "count": [1285]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5414450168609619]], [[0.5414612889289856]], [[0.543134331703186]]], "std": [[[0.3000754117965698]], [[0.30037161707878113]], [[0.3018699586391449]]], "count": [1285]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6235294342041016]], [[0.6235294342041016]], [[0.6235294342041016]]], "mean": [[[0.0012777786469087005]], [[0.0012777786469087005]], [[0.0012777786469087005]]], "std": [[[0.0212014801800251]], [[0.0212014801800251]], [[0.0212014801800251]]], "count": [1285]}, "observation.images.tactile_raw": {"min": [[[0.0235294122248888]], [[0.0235294122248888]], [[0.0235294122248888]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4679887294769287]], [[0.4679887294769287]], [[0.4679887294769287]]], "std": [[[0.23502647876739502]], [[0.23502647876739502]], [[0.23502647876739502]]], "count": [1285]}}}
+{"episode_index": 26, "stats": {"observation.state": {"min": [1.0423805713653564, -0.7800307869911194, -0.1370796412229538, 0.9422926306724548, -0.07854772359132767, -0.7700382471084595, 0.4645877778530121, 0.006217276677489281, -0.0011848800349980593, -0.27592864632606506, -0.3058569133281708, 0.0030868242029100657, -0.02813434973359108, 0.00015037768753245473, 0.0034516695886850357, 0.0008509285398758948, -0.12920527160167694, -0.00032651322544552386, 0.003436777740716934, 0.0008367390255443752, -0.07544122636318207, -0.002000289037823677, 0.0030435677617788315, 0.0008136810502037406, 0.012997240759432316, -0.14175774157047272, -0.038175299763679504, 0.003524355124682188, 0.0008668916998431087, 1.0509183406829834, -0.779047429561615, -0.2264842391014099, 0.8882869482040405, -1.1750743389129639, -0.7682248950004578, -0.1747099906206131, 0.006306350231170654, -0.20882828533649445, 0.0030401211697608232, -0.20821335911750793, 0.003479680046439171, 0.0051530697382986546, -0.06365633755922318, 0.003113062120974064, 0.0007618005620315671, 0.0036882988642901182, -0.008086287416517735, 0.0027453801594674587, 0.0008646746282465756, -0.0003483460168354213, -0.031189000234007835, 0.0035222277510911226, 0.0008770904969424009, 0.005360304843634367, -0.06530925631523132, -0.03732921555638313, 0.0034704613499343395, 0.0008739865152165294, 0.5613411068916321, -1.1070547103881836, 0.5442755818367004, -0.01888713799417019, -0.03748665377497673, 9.58738019107841e-05, -0.8729309439659119], "max": [1.1972932815551758, -0.5740245580673218, 8.149272616719827e-06, 1.570008397102356, 3.4155040339101106e-05, 0.01666346564888954, 0.6981664299964905, 1.0831434726715088, 0.04894200339913368, 0.0003305097052361816, -0.00380190322175622, 0.47961291670799255, 0.6202757358551025, 0.13057854771614075, 0.15616686642169952, 0.294518381357193, 0.49742698669433594, 0.15643860399723053, 0.15302897989749908, 0.017703214660286903, 0.3794647455215454, 0.15511706471443176, 0.2627626359462738, 0.37374165654182434, 0.013576298952102661, 0.2804601192474365, 0.05831609293818474, 0.24109745025634766, 0.21195170283317566, 1.3273279666900635, -0.25089412927627563, -0.0016498682089149952, 1.568007230758667, 0.2822102904319763, 0.1039927527308464, 0.5951381325721741, 1.551486849784851, -9.503595356363803e-05, 0.7243619561195374, 0.3154239058494568, 0.4711495041847229, 1.0043281316757202, 0.26086246967315674, 0.20687857270240784, 0.945923924446106, 1.4689292907714844, 0.29483380913734436, 1.6556851863861084, 1.1138259172439575, 1.4687522649765015, 0.26993855834007263, 1.6548473834991455, 1.2981953620910645, 0.07736799120903015, 1.4685858488082886, 0.31457915902137756, 1.6546825170516968, 1.3081769943237305, 0.5627791881561279, -1.106191873550415, 0.7173277735710144, 0.005464806687086821, 0.014476943761110306, 0.23306921124458313, -0.5999782085418701], "mean": [1.1472738981246948, -0.7022514939308167, -0.12763845920562744, 0.99302077293396, -0.05718350037932396, -0.1738738864660263, 0.5824849009513855, 1.0009881258010864, 0.04049735888838768, -0.2609925866127014, -0.27267155051231384, 0.46058568358421326, 0.4875682294368744, 0.09791052341461182, 0.11882385611534119, 0.27858033776283264, 0.36444154381752014, 0.1190376728773117, 0.07866423577070236, 0.010942497290670872, 0.21881555020809174, 0.08717963099479675, 0.09611880034208298, 0.3448668122291565, 0.013302548788487911, 0.10525726526975632, -0.003293652320280671, 0.05610267445445061, 0.04889663681387901, 1.1483819484710693, -0.4657354950904846, -0.21708205342292786, 1.1951124668121338, -1.0351580381393433, -0.251120001077652, 0.24055638909339905, 1.3453559875488281, -0.13751459121704102, 0.4948541820049286, -0.038337402045726776, 0.16486573219299316, 0.8152255415916443, 0.1765112429857254, 0.048832036554813385, 0.5154415965080261, 1.3422025442123413, 0.20783685147762299, 1.4864702224731445, 0.9633910655975342, 1.3310595750808716, 0.17417581379413605, 1.4863660335540771, 1.118712306022644, 0.06818519532680511, 1.3193837404251099, 0.2674153745174408, 1.519696831703186, 1.1995824575424194, 0.5617495775222778, -1.1068596839904785, 0.6781989932060242, -0.012267284095287323, -0.00023014667385723442, 0.19410182535648346, -0.8565760254859924], "std": [0.026860564947128296, 0.028315119445323944, 0.022462358698248863, 0.1012428030371666, 0.014452984556555748, 0.14627975225448608, 0.06933635473251343, 0.18530508875846863, 0.011357243172824383, 0.050152361392974854, 0.05108563229441643, 0.08675527572631836, 0.19230206310749054, 0.03015635721385479, 0.04541753977537155, 0.052858900278806686, 0.16214565932750702, 0.03634127974510193, 0.06175001338124275, 0.006705203093588352, 0.11712945252656937, 0.04296150803565979, 0.08510056883096695, 0.06695277243852615, 0.00011730994447134435, 0.11636096984148026, 0.03041940927505493, 0.06246963143348694, 0.05428450182080269, 0.04383305460214615, 0.10405264794826508, 0.03440080210566521, 0.12037672102451324, 0.3265227675437927, 0.15652969479560852, 0.13433754444122314, 0.24526499211788177, 0.03802596777677536, 0.179460346698761, 0.11197050660848618, 0.13938547670841217, 0.2219923436641693, 0.07426760345697403, 0.041403092443943024, 0.29505640268325806, 0.3789057731628418, 0.06891286373138428, 0.48900580406188965, 0.32336685061454773, 0.4095742106437683, 0.06428903341293335, 0.48887452483177185, 0.3696398138999939, 0.02122694067656994, 0.4371357858181, 0.08825812488794327, 0.4263392984867096, 0.34085625410079956, 0.0001733676326693967, 8.460509707219899e-05, 0.03673611208796501, 0.0051660602912306786, 0.010752344503998756, 0.04472765326499939, 0.05598613619804382], "count": [1116]}, "observation.state.joint_torque": {"min": [-45.70199966430664, -3.246000051498413, -17.99799919128418, -6.0229997634887695, -0.4480000138282776, -0.5383999943733215, 0.6759999990463257, -0.682610809803009, -0.7322782874107361, -0.2783624529838562, -0.3057016432285309, -0.12451920658349991, -0.3626774847507477, -0.3290962278842926, -0.08633331209421158, -0.033534638583660126, -0.25233909487724304, -0.25425803661346436, -0.09961536526679993, -0.03710215538740158, -0.6092597842216492, -0.4499887526035309, -0.25069868564605713, -0.04780469834804535, -0.001759204315021634, -0.3809072971343994, -0.49892139434814453, -0.1411217600107193, -0.038529157638549805, 2.305500030517578, -15.529500007629395, -8.887999534606934, -11.145999908447266, -3.1663999557495117, -5.3471999168396, -3.2191998958587646, -1.7994942665100098, -0.6265755891799927, -0.7418857216835022, -1.3768999576568604, -0.16270509362220764, -0.5823948383331299, -0.9719372391700745, -0.13448072969913483, -0.21333740651607513, -0.9373965859413147, -0.27824464440345764, -0.29386529326438904, -0.11844149231910706, -0.49892139434814453, -0.3003123104572296, -0.09463459998369217, -0.06492877006530762, -0.1455741673707962, -0.9824913740158081, -0.43655622005462646, -0.22745507955551147, -0.03424813970923424, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-10.525500297546387, 15.016500473022461, -2.5329999923706055, 2.299999952316284, 1.9880000352859497, 1.2247999906539917, 3.252000093460083, 0.6393108367919922, 0.33748480677604675, 0.41505834460258484, 0.48216357827186584, 0.11621791869401932, 0.39625874161720276, 0.2657715976238251, 0.11787818372249603, 0.016410568729043007, 0.3626774549484253, 0.15927106142044067, 0.0979551151394844, 0.016410568729043007, 0.42312371730804443, 0.6015840768814087, 0.11289741843938828, 0.019978083670139313, 0.001759204315021634, 0.48452943563461304, 0.3406097888946533, 0.15440380573272705, 0.027826614677906036, 50.02199935913086, 11.443499565124512, 19.242000579833984, 2.9100000858306885, 0.9423999786376953, 3.2639999389648438, 5.285600185394287, 2.5037550926208496, 4.487911224365234, 2.235598564147949, 2.0293118953704834, 0.6558011174201965, 2.1424834728240967, 2.138645887374878, 1.0559228658676147, 0.21405088901519775, 0.7829228639602661, 0.2705689072608948, 0.13614100217819214, 0.11130645871162415, 1.5725618600845337, 0.22835248708724976, 0.1062563955783844, 0.1405600905418396, 0.12182490527629852, 1.3470878601074219, 0.38666409254074097, 0.1062563955783844, 0.1212955042719841, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.387964248657227, 5.506432056427002, -11.073962211608887, -1.213618516921997, 0.2863703966140747, 0.12567023932933807, 2.0374412536621094, 0.05671074613928795, -0.01896369457244873, -0.007978362031280994, -0.00798727199435234, 2.677647898963187e-05, 0.04742211475968361, 0.013840882107615471, 0.00660235108807683, -0.0001016543828882277, 0.051167137920856476, -0.032053399831056595, 0.005443440284579992, -0.0017198232235386968, 0.09527754783630371, 0.12130683660507202, 0.011743788607418537, 0.0017012825701385736, -3.192103758919984e-05, 0.14894476532936096, -0.02228693477809429, 0.019124185666441917, 0.004423590376973152, 24.795602798461914, 0.17970417439937592, 10.41951847076416, -4.197558879852295, -0.3966911733150482, 0.9094693660736084, -1.1172500848770142, 0.046795301139354706, 0.7134782075881958, 0.4106300473213196, 0.3078385293483734, 0.03667889162898064, 0.6966947913169861, -0.055416833609342575, 0.34034964442253113, 0.06428757309913635, 0.007203718181699514, -0.02745218202471733, 0.00027670804411172867, 0.0026698806323111057, 0.0013042099308222532, -0.026269156485795975, 0.0003555546572897583, 0.0029384009540081024, 0.0020291521213948727, 0.01823408715426922, -0.03998538851737976, 0.0014058639062568545, 0.001972364727407694, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.3663060665130615, 1.1486846208572388, 0.8838093876838684, 0.8320990800857544, 0.26826798915863037, 0.30866947770118713, 0.23934443295001984, 0.14072608947753906, 0.1050061583518982, 0.051029887050390244, 0.07248486578464508, 0.013469242490828037, 0.06873440742492676, 0.062498629093170166, 0.019706252962350845, 0.005851921159774065, 0.07076704502105713, 0.048378679901361465, 0.016155457124114037, 0.00689336471259594, 0.12455931305885315, 0.15240074694156647, 0.02807142771780491, 0.008253653533756733, 0.00033073476515710354, 0.14534753561019897, 0.10979489237070084, 0.03119102120399475, 0.01154708955436945, 3.833813190460205, 2.0267982482910156, 2.6334896087646484, 1.4576739072799683, 0.4216499626636505, 0.9236012697219849, 0.9536787271499634, 0.7416403889656067, 1.0821990966796875, 0.5741125345230103, 0.5959630012512207, 0.1003783717751503, 0.9146530628204346, 0.36151018738746643, 0.45634642243385315, 0.10371576994657516, 0.07027505338191986, 0.07138568162918091, 0.013875424861907959, 0.011833948083221912, 0.07104240357875824, 0.06775599718093872, 0.011285584419965744, 0.013296698220074177, 0.021026160567998886, 0.0804380401968956, 0.08666841685771942, 0.020212341099977493, 0.006218030117452145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1116]}, "observation.state.tcp": {"min": [0.3617485761642456, 0.1917509138584137, 0.9305720925331116, -1.2136813402175903, 1.186553955078125, -1.4622999429702759, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.35968250036239624, -0.21566514670848846, 0.8973591923713684, -0.2985336184501648, 1.2198023796081543, 0.7796725034713745, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.48185834288597107, 0.32516753673553467, 1.0518009662628174, -0.9219057559967041, 1.525789499282837, -1.191064715385437, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4983060956001282, 0.006301970686763525, 1.0534833669662476, 1.4341731071472168, 2.382061243057251, 1.5059397220611572, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4641890525817871, 0.3041587471961975, 0.9531630873680115, -1.1184666156768799, 1.3990806341171265, -1.2793294191360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.39820554852485657, -0.08819285035133362, 0.9344072341918945, -0.03398872911930084, 1.9649697542190552, 1.1376155614852905, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.018445739522576332, 0.02871232107281685, 0.024837784469127655, 0.06597588211297989, 0.08962822705507278, 0.0937659814953804, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025945091620087624, 0.04668116942048073, 0.03773731365799904, 0.36911526322364807, 0.22554585337638855, 0.14057576656341553, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1116]}, "action": {"min": [1.044925332069397, -0.7799999713897705, -0.137168750166893, 0.9421854019165039, -0.07852184027433395, -0.7699999809265137, 0.4645789563655853, 0.0, 0.0, -0.2743673622608185, -0.30592256784439087, 0.0, -0.03701171278953552, 0.0, 0.0, 0.0, -0.15997476875782013, 0.0, 0.0, 0.0, -0.09994271397590637, 0.0, 0.0, 0.0, 0.0, -0.1495494395494461, -0.1468680500984192, 0.0, 0.0, 1.051270842552185, -0.7786871790885925, -0.2264573723077774, 0.8882843255996704, -1.1750472784042358, -0.7672786116600037, -0.1763146072626114, 0.0, -0.21167026460170746, 0.0, -0.21503406763076782, -0.11700823903083801, 0.0, -0.062498994171619415, 0.0, 0.0, 0.0, -0.012261159718036652, 0.0, 0.0, 0.0, -0.06853920966386795, 0.0, 0.0, 0.0, -0.06557765603065491, -0.08330351859331131, 0.0, 0.0, 0.5615328550338745, -1.1069588661193848, 0.5442397594451904, -0.01894797571003437, -0.043439581990242004, 0.0, -0.8727391362190247], "max": [1.1973047256469727, -0.5736792087554932, 0.0, 1.5700000524520874, 0.0, 0.0161818265914917, 0.7310009598731995, 1.0937283039093018, 0.05235760658979416, 0.0, 0.0, 0.4822549521923065, 0.6248289346694946, 0.12886518239974976, 0.16408999264240265, 0.2965088486671448, 0.5046713352203369, 0.15484708547592163, 0.15752331912517548, 0.02230978012084961, 0.38787874579429626, 0.1594488024711609, 0.26680704951286316, 0.3753363788127899, 0.02881007269024849, 0.2881007194519043, 0.05743902176618576, 0.24871580302715302, 0.21306996047496796, 1.3277100324630737, -0.2508384585380554, -0.0010958410566672683, 1.567176342010498, 0.2822088599205017, 0.1042931079864502, 0.5954083800315857, 1.5591903924942017, 0.0, 0.7244672775268555, 0.3490658402442932, 0.4734782874584198, 1.0610352754592896, 0.29808229207992554, 0.20992536842823029, 0.942535400390625, 1.5707963705062866, 0.30431413650512695, 1.7453292608261108, 1.1148204803466797, 1.5707963705062866, 0.2773734927177429, 1.7453292608261108, 1.2993297576904297, 0.08239777386188507, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.1068651676177979, 0.7186489701271057, 0.006128260865807533, 0.015310714021325111, 0.23431845009326935, -0.6000000238418579], "mean": [1.1472136974334717, -0.7021698355674744, -0.1276417374610901, 0.9929339289665222, -0.05717947706580162, -0.1742030829191208, 0.5828445553779602, 1.0072311162948608, 0.038836732506752014, -0.26017749309539795, -0.27918216586112976, 0.46238335967063904, 0.4913922846317291, 0.09839977324008942, 0.12190470844507217, 0.28145039081573486, 0.3688952326774597, 0.11836101859807968, 0.08118326961994171, 0.011528268456459045, 0.2242266982793808, 0.08775503188371658, 0.09828135371208191, 0.34695082902908325, 0.015368266962468624, 0.11063860356807709, -0.01565161719918251, 0.06049160286784172, 0.05125335976481438, 1.1484875679016113, -0.46574917435646057, -0.21710777282714844, 1.1949708461761475, -1.0361168384552002, -0.25127431750297546, 0.24076542258262634, 1.3447644710540771, -0.13454976677894592, 0.4970749616622925, -0.03310640528798103, 0.15224245190620422, 0.8318113088607788, 0.18873752653598785, 0.05337683483958244, 0.5429268479347229, 1.431633710861206, 0.2051890641450882, 1.5694596767425537, 0.9667697548866272, 1.4175052642822266, 0.16984425485134125, 1.5732243061065674, 1.1200090646743774, 0.06858848035335541, 1.4143800735473633, 0.2694915533065796, 1.5969923734664917, 1.2754019498825073, 0.5617544054985046, -1.1069450378417969, 0.6782327890396118, -0.012308726087212563, -0.00021789614402223378, 0.19411247968673706, -0.856488049030304], "std": [0.026743225753307343, 0.02855074033141136, 0.022483233362436295, 0.10150132328271866, 0.014467259868979454, 0.1468312293291092, 0.06986211985349655, 0.20161528885364532, 0.011778348125517368, 0.054255399852991104, 0.05806500464677811, 0.09587014466524124, 0.1994640827178955, 0.03010203316807747, 0.04832758381962776, 0.05840921029448509, 0.1694474071264267, 0.03702515736222267, 0.06349601596593857, 0.008219418115913868, 0.12158068269491196, 0.04385717585682869, 0.08837583661079407, 0.07316559553146362, 0.00981624610722065, 0.12099072337150574, 0.04855172708630562, 0.06344441324472427, 0.054885659366846085, 0.043777599930763245, 0.10384445637464523, 0.034346964210271835, 0.12033464014530182, 0.3241201937198639, 0.1563371866941452, 0.13444223999977112, 0.2636971175670624, 0.04071222245693207, 0.1879311352968216, 0.11760297417640686, 0.1576811522245407, 0.2392587959766388, 0.08230085670948029, 0.04435111954808235, 0.3187826871871948, 0.4169803857803345, 0.06931263208389282, 0.5162160992622375, 0.3225249648094177, 0.4469740390777588, 0.06885362416505814, 0.5147326588630676, 0.3707377016544342, 0.0227915458381176, 0.46938908100128174, 0.09621872752904892, 0.46610939502716064, 0.37852227687835693, 0.00015376046940218657, 1.4726031622558367e-05, 0.03700941801071167, 0.005205146037042141, 0.010934030637145042, 0.04506750777363777, 0.05646858364343643], "count": [1116]}, "observation.state.tcp_pose": {"min": [0.3617485761642456, 0.1917509138584137, 0.9305720925331116, -1.2136813402175903, 1.186553955078125, -1.4622999429702759, 0.35968250036239624, -0.21566514670848846, 0.8973591923713684, -0.2985336184501648, 1.2198023796081543, 0.7796725034713745], "max": [0.48185834288597107, 0.32516753673553467, 1.0518009662628174, -0.9219057559967041, 1.525789499282837, -1.191064715385437, 0.4983060956001282, 0.006301970686763525, 1.0534833669662476, 1.4341731071472168, 2.382061243057251, 1.5059397220611572], "mean": [0.4641890525817871, 0.3041587471961975, 0.9531630873680115, -1.1184666156768799, 1.3990806341171265, -1.2793294191360474, 0.39820554852485657, -0.08819285035133362, 0.9344072341918945, -0.03398872911930084, 1.9649697542190552, 1.1376155614852905], "std": [0.018445739522576332, 0.02871232107281685, 0.024837784469127655, 0.06597588211297989, 0.08962822705507278, 0.0937659814953804, 0.025945091620087624, 0.04668116942048073, 0.03773731365799904, 0.36911526322364807, 0.22554585337638855, 0.14057576656341553], "count": [1116]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.1924280971288681, 0.9277359843254089, -1.219119906425476, 1.1629292964935303, -1.4703330993652344, 0.3595941662788391, -0.21544262766838074, 0.8970452547073364, -0.29822394251823425, 1.2199467420578003, 0.7738030552864075], "max": [0.4803790748119354, 0.32490360736846924, 1.0518032312393188, -0.8979074358940125, 1.5259095430374146, -1.1907254457473755, 0.4985591769218445, 0.006299413274973631, 1.0520883798599243, 1.4378916025161743, 2.3821229934692383, 1.5086073875427246], "mean": [0.4641582667827606, 0.3041698932647705, 0.9531539678573608, -1.1181880235671997, 1.3986881971359253, -1.279157042503357, 0.3982023596763611, -0.08819151669740677, 0.934465765953064, -0.03512642905116081, 1.9648568630218506, 1.1374837160110474], "std": [0.018481457605957985, 0.028763337060809135, 0.02440893091261387, 0.06641335040330887, 0.08959250152111053, 0.09416702389717102, 0.02593536674976349, 0.04665874317288399, 0.03787296637892723, 0.36752089858055115, 0.22469142079353333, 0.1403893679380417], "count": [1116]}, "subtask_index": {"min": [64], "max": [812], "mean": [794.8790322580645], "std": [54.22715951597505], "count": [1116]}, "observation.tactile": {"min": [-0.03796041011810303, -3.577787720132619e-05, -8.05808012955822e-05, -0.001345475553534925, -0.00033807699219323695, -0.0005263354396447539, -0.008191895671188831, -2.5063274733838625e-05, -5.2765357395401224e-05, -0.0018163634231314063, -1.5232115401886404e-05, -0.0001768576621543616, -0.01694423519074917, -3.623479642556049e-05, -8.138797420542687e-05, -0.0014707082882523537, -2.9645396352862008e-05, -0.00036150874802842736, -0.0027732455637305975, -3.3568579965503886e-05, -7.34899949748069e-05, -0.0008293095743283629, -3.291169196018018e-05, -6.826902244938537e-05, -0.001727897790260613, -5.5541204346809536e-05, -0.00012537784641608596, -0.00031353472149930894, -1.703458656265866e-05, -4.178353992756456e-05, -1.9552661180496216, -3.783022839343175e-05, -8.386748231714591e-05, -0.17470715939998627, -0.0077179973013699055, -0.04147161915898323, -6.088116645812988, 0.0, 0.0, -0.34443971514701843, -0.027942750602960587, -0.12650486826896667, -0.004692969843745232, -5.065386358182877e-05, -0.00011313236609566957, -0.0016088715055957437, -2.4502391170244664e-05, -9.525366476736963e-05, -0.015333632007241249, -4.100933801964857e-05, -8.86290508788079e-05, -0.0017896700883284211, -0.0001043687152559869, -0.0003201466170139611, -0.010519653558731079, -3.514922718750313e-05, -7.684821321163327e-05, -0.0013706970494240522, -5.762926957686432e-05, -0.00025364026078023016], "max": [0.0002832687459886074, 0.027186430990695953, 0.07806019484996796, 1.5463522231584648e-06, 2.4053899323916994e-05, 6.074144494050415e-06, 0.0119435153901577, 0.02746463008224964, 0.08278737962245941, 9.870996109384578e-07, 0.00024598909658379853, 0.0001420222979504615, 0.004333295859396458, 0.025757621973752975, 0.07441216707229614, 1.5271546089934418e-06, 0.00013510613644029945, 4.058189733768813e-05, 0.012650484219193459, 0.015572967939078808, 0.046694643795490265, 1.3032913557253778e-06, 0.0002755240711849183, 0.00017279988969676197, 0.0009685778059065342, 0.0061107720248401165, 0.016933435574173927, 2.396386662439909e-06, 3.351816485519521e-05, 1.1516181075421628e-05, 7.042683124542236, 10.41883373260498, 10.533917427062988, 1.5703150211265893e-06, 0.02702055685222149, 0.14716029167175293, 8.118178367614746, 12.175371170043945, 18.368650436401367, 0.0, 0.011034061200916767, 0.1534443199634552, 0.04523337632417679, 0.029219571501016617, 0.0913124680519104, 2.0887232494715136e-06, 0.0005007407162338495, 0.0006419031415134668, 0.019393213093280792, 0.032670293003320694, 0.09444346278905869, 1.6417077404184965e-06, 0.0004764707409776747, 0.00025223952252417803, 0.003356918226927519, 0.022240573540329933, 0.06397518515586853, 1.4409426967176842e-06, 0.0001319709263043478, 5.182618406252004e-05], "mean": [-0.011549385264515877, 0.01163534726947546, 0.03203534707427025, -0.0005326573154889047, -0.0001329723745584488, -0.00014103177818469703, -0.0004917712649330497, 0.0021538902074098587, 0.006324166897684336, -0.00011604787869146094, 1.0867466698982753e-05, -1.2243709534232039e-05, -0.0014030355960130692, 0.0024991680402308702, 0.007251781411468983, -0.0001336754794465378, 9.034611139213666e-06, -2.877000588341616e-05, 0.00037365249590948224, 0.000789524638094008, 0.002390962792560458, -4.5587825297843665e-05, 1.2545262507046573e-05, 2.8703591397061246e-06, 0.00020953237253706902, 0.0007270932546816766, 0.0021743413526564837, -4.460288255359046e-05, 3.4816089282685425e-06, 2.949204827018548e-06, 1.4884048700332642, 1.7313647270202637, 1.9394192695617676, -0.040588926523923874, 0.005415209103375673, 0.03005177155137062, 0.3483072519302368, 2.8600215911865234, 4.99228572845459, -0.1017032191157341, -0.002783417934551835, 0.007178694475442171, 0.003299904288724065, 0.006516797933727503, 0.020099107176065445, -0.00034011321258731186, 8.553656516596675e-05, 2.8708278478006832e-05, -0.002298047998920083, 0.006328630726784468, 0.018459761515259743, -0.0003438742714934051, 1.4486086911347229e-05, -5.187701026443392e-05, -0.0007956326589919627, 0.008548157289624214, 0.024466093629598618, -0.0005162121960893273, 4.140174496569671e-05, -3.0281065846793354e-05], "std": [0.007047439459711313, 0.006091523915529251, 0.017093366011977196, 0.0002917842648457736, 7.256900426000357e-05, 9.60563775151968e-05, 0.0019100054632872343, 0.004013229627162218, 0.01170761976391077, 0.00021869658667128533, 2.81860375253018e-05, 3.4219538065372035e-05, 0.0032087804283946753, 0.004869749769568443, 0.014050208032131195, 0.0002663442865014076, 2.6451041776454076e-05, 6.911929813213646e-05, 0.0009713970357552171, 0.0019472225103527308, 0.0059762694872915745, 0.00011330724373692647, 3.566602390492335e-05, 1.2932915524288546e-05, 0.00026345878723077476, 0.0010998027864843607, 0.003209194866940379, 6.567555828951299e-05, 7.535617442044895e-06, 6.538170964631718e-06, 2.3744637966156006, 2.3768880367279053, 2.5668396949768066, 0.05168170481920242, 0.00884957518428564, 0.04870644584298134, 2.3307292461395264, 3.5053553581237793, 6.303738594055176, 0.12452834844589233, 0.006082162726670504, 0.04472019895911217, 0.006682806182652712, 0.005720239132642746, 0.018294543027877808, 0.00031502233468927443, 0.00010516352631384507, 8.786783291725442e-05, 0.0034548745024949312, 0.005878457333892584, 0.017133420333266258, 0.0003334375796839595, 4.918109334539622e-05, 6.594970909645781e-05, 0.0014796080067753792, 0.00421115942299366, 0.011919542215764523, 0.00025756852119229734, 2.8189104341436177e-05, 2.9014632673352025e-05], "count": [1116]}, "timestamp": {"min": [0.0], "max": [37.166666666666664], "mean": [18.583333333333332], "std": [10.73871069576825], "count": [1116]}, "frame_index": {"min": [0], "max": [1115], "mean": [557.5], "std": [322.1613208730475], "count": [1116]}, "episode_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [1116]}, "index": {"min": [41412], "max": [42527], "mean": [41969.5], "std": [322.1613208730475], "count": [1116]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1116]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5361701250076294]], [[0.5357424020767212]], [[0.5373268127441406]]], "std": [[[0.29877814650535583]], [[0.2988520860671997]], [[0.2995583117008209]]], "count": [1116]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25094059109687805]], [[0.25086843967437744]], [[0.2502051889896393]]], "std": [[[0.15692010521888733]], [[0.15773576498031616]], [[0.1569952666759491]]], "count": [1116]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.19239413738250732]], [[0.19337770342826843]], [[0.19386878609657288]]], "std": [[[0.13025860488414764]], [[0.13092754781246185]], [[0.13422749936580658]]], "count": [1116]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5381439924240112]], [[0.5379135608673096]], [[0.5392638444900513]]], "std": [[[0.29949748516082764]], [[0.29970890283584595]], [[0.3010117709636688]]], "count": [1116]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6000000238418579]], [[0.6000000238418579]], [[0.6000000238418579]]], "mean": [[[0.0019154570763930678]], [[0.0019154570763930678]], [[0.0019154570763930678]]], "std": [[[0.026682022958993912]], [[0.026682022958993912]], [[0.026682022958993912]]], "count": [1116]}, "observation.images.tactile_raw": {"min": [[[0.0235294122248888]], [[0.0235294122248888]], [[0.0235294122248888]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4678787589073181]], [[0.4678787589073181]], [[0.4678787589073181]]], "std": [[[0.23504863679409027]], [[0.23504863679409027]], [[0.23504863679409027]]], "count": [1116]}}}
+{"episode_index": 27, "stats": {"observation.state": {"min": [1.0099880695343018, -0.8309127688407898, -0.1310635656118393, 1.0661284923553467, -0.1175461858510971, -0.7700318694114685, 0.29885804653167725, 0.006193246692419052, -0.24054090678691864, -0.008961459621787071, 4.185824582236819e-05, 0.003091433783993125, -0.051672983914613724, -0.015937795862555504, 0.003433586796745658, 0.0008278705645352602, -0.16753241419792175, 0.0010577947832643986, 0.003461242653429508, 0.0008145678439177573, -0.1571313440799713, 0.002810319419950247, 0.003078314708545804, 0.0007768769282847643, 0.01294479425996542, -0.14772403240203857, -0.04037357494235039, 0.0034289774484932423, 0.00085270224371925, 1.0501818656921387, -0.8880767226219177, -0.23078429698944092, 0.8459832072257996, -1.2481430768966675, -0.7695471048355103, -0.1523769050836563, 0.007257434073835611, -0.29979825019836426, 0.00304845510981977, -0.19668473303318024, 0.0034704613499343395, 0.005159939173609018, -0.1870012879371643, 0.0031158984638750553, 0.000728987215552479, 0.003602193668484688, -0.06642642617225647, 0.0026964505668729544, 0.0008243231568485498, -7.016064773779362e-05, -0.03027177043259144, 0.0034874803386628628, 0.0008340784697793424, 0.005833399016410112, -0.06065761670470238, -0.038447603583335876, 0.0035027265548706055, 0.0008784207748249173, 0.5611493587493896, -1.107150673866272, 0.5441796779632568, -0.048224519938230515, -0.04084223881363869, -0.0001917476038215682, -0.8729309439659119], "max": [1.2041372060775757, -0.573123574256897, 9.82706478680484e-06, 1.570016860961914, 3.1638355721952394e-05, 0.17576591670513153, 0.69817054271698, 1.1948012113571167, 8.130462083499879e-05, 0.525885820388794, 0.31442517042160034, 0.47962358593940735, 0.7579848170280457, 0.149191752076149, 0.22284169495105743, 0.29515689611434937, 0.5257121920585632, 0.18650943040847778, 0.2188751995563507, 0.008488887920975685, 0.19718404114246368, 0.20141449570655823, 0.3522663712501526, 0.33218759298324585, 0.014711938798427582, 0.3357762396335602, 0.10319314152002335, 0.4790278971195221, 0.41542428731918335, 1.3016668558120728, -0.20203804969787598, -0.00023009712458588183, 1.570441722869873, 0.13260354101657867, -0.018314292654395103, 0.6199027299880981, 1.5623887777328491, 0.0005516071105375886, 0.8006848692893982, 0.3161735534667969, 0.49517616629600525, 1.1435227394104004, 0.25908440351486206, 0.8940203785896301, 1.2965294122695923, 1.47038996219635, 0.2662642300128937, 1.6556848287582397, 1.3082380294799805, 1.4687309265136719, 0.24343979358673096, 1.6548371315002441, 1.3082278966903687, 0.07011745870113373, 1.4687581062316895, 0.3111368417739868, 1.6580430269241333, 1.3081697225570679, 0.5627791881561279, -1.105904221534729, 0.7305583357810974, 0.005081311333924532, 0.0499502494931221, 0.24284833669662476, -0.5664224028587341], "mean": [1.152220606803894, -0.8088387250900269, -0.11920090019702911, 1.2984617948532104, -0.112111397087574, -0.06279727816581726, 0.5147542357444763, 1.1601417064666748, -0.20495471358299255, 0.4129159152507782, 0.28138190507888794, 0.4721386730670929, 0.61527419090271, 0.10790438950061798, 0.18618056178092957, 0.2885693907737732, 0.37909141182899475, 0.15414588153362274, 0.1627766489982605, 0.002598418854176998, 0.12763160467147827, 0.15283489227294922, 0.24619346857070923, 0.31909996271133423, 0.013244764879345894, 0.21609121561050415, 0.05550498515367508, 0.29330480098724365, 0.2530674934387207, 1.1476064920425415, -0.5915800929069519, -0.22247536480426788, 1.30559241771698, -1.1582653522491455, -0.34620749950408936, 0.1039862260222435, 1.3263628482818604, -0.1942942887544632, 0.526251494884491, -0.031224578619003296, 0.1152837723493576, 0.8994558453559875, 0.1777668446302414, 0.05548648163676262, 0.509257972240448, 1.414566159248352, 0.18224364519119263, 1.5889636278152466, 1.1535459756851196, 1.4110853672027588, 0.15467868745326996, 1.5916115045547485, 1.170607566833496, 0.06323933601379395, 1.4080519676208496, 0.2591977119445801, 1.5999895334243774, 1.2632354497909546, 0.5615401268005371, -1.1068751811981201, 0.6974939703941345, -0.018171187490224838, 0.02137337066233158, 0.20778261125087738, -0.8623082637786865], "std": [0.02290928177535534, 0.027667157351970673, 0.013803106732666492, 0.04574595019221306, 0.011969611980021, 0.15820817649364471, 0.11566183716058731, 0.1319805234670639, 0.030025644227862358, 0.14196337759494781, 0.03315570950508118, 0.054988451302051544, 0.16387663781642914, 0.030524592846632004, 0.05483849346637726, 0.03422416374087334, 0.1920793503522873, 0.03216563165187836, 0.051973894238471985, 0.002414307091385126, 0.0887245237827301, 0.04320848360657692, 0.10129399597644806, 0.037612807005643845, 0.00033140735467895865, 0.15663938224315643, 0.04220882058143616, 0.1931287944316864, 0.1665312647819519, 0.03366008400917053, 0.15042535960674286, 0.022172357887029648, 0.15756800770759583, 0.2047731727361679, 0.15022467076778412, 0.14063581824302673, 0.154058039188385, 0.047788430005311966, 0.16171175241470337, 0.08065561205148697, 0.12068364769220352, 0.18940573930740356, 0.06649678200483322, 0.07823019474744797, 0.24029669165611267, 0.2604421377182007, 0.04596022889018059, 0.3192763030529022, 0.23596172034740448, 0.26985806226730347, 0.041740309447050095, 0.31184154748916626, 0.24476100504398346, 0.01212408859282732, 0.2866644561290741, 0.057022713124752045, 0.28879863023757935, 0.22725139558315277, 0.00012578243331518024, 7.065395766403526e-05, 0.023112330585718155, 0.011101438663899899, 0.011539912782609463, 0.035527266561985016, 0.044270653277635574], "count": [2864]}, "observation.state.joint_torque": {"min": [-42.2760009765625, -4.816500186920166, -21.198999404907227, -7.185999870300293, -0.9552000164985657, -0.876800000667572, 1.3960000276565552, -0.9143927693367004, -0.6826106905937195, -0.44239750504493713, -0.3678361177444458, -0.11289741843938828, -0.3079880177974701, -0.3924208879470825, -0.34035250544548035, -0.03496164828538895, -0.9920860528945923, -0.3175826668739319, -0.09463459998369217, -0.03781566023826599, -0.913409948348999, -0.6860169172286987, -0.26896145939826965, -0.04923170804977417, -0.0030786076094955206, -1.2377088069915771, -0.9469912052154541, -0.28058329224586487, -0.0706368014216423, -8.03849983215332, -10.845000267028809, -13.73799991607666, -9.223999977111816, -2.803999900817871, -9.236000061035156, -3.5016000270843506, -2.208296537399292, -0.9067515730857849, -0.6959061622619629, -1.1196633577346802, -0.17930765450000763, -0.6994494199752808, -0.780044436454773, -0.39348068833351135, -0.21262387931346893, -1.2242764234542847, -0.34252873063087463, -0.16934612393379211, -0.16410566866397858, -0.3828262388706207, -0.3406097888946533, -0.6890062689781189, -0.051372215151786804, -0.14601396024227142, -0.8827071189880371, -0.4192858934402466, -0.5312820076942444, -0.08562035858631134, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-16.708499908447266, 14.52750015258789, -5.591000080108643, 2.1110000610351562, 1.8287999629974365, 1.503999948501587, 3.4040000438690186, 0.6253019571304321, 0.35022005438804626, 0.5654237866401672, 0.6101605892181396, 0.12285894900560379, 0.46534016728401184, 0.30415016412734985, 0.12617947161197662, 0.020691584795713425, 0.9162883162498474, 0.20916320383548737, 0.12949997186660767, 0.015697065740823746, 0.4874078333377838, 1.070762038230896, 0.13614100217819214, 0.021405089646577835, 0.01451343484222889, 0.8817476034164429, 0.4212048053741455, 0.29718583822250366, 0.06278826296329498, 45.535499572753906, 13.342499732971191, 18.868999481201172, 3.9549999237060547, 0.4832000136375427, 2.77839994430542, 4.418399810791016, 2.4120612144470215, 4.486637592315674, 2.543785572052002, 1.9907886981964111, 0.6076537370681763, 2.1434431076049805, 2.138645648956299, 1.064224123954773, 0.21333740651607513, 0.926842451095581, 0.3358124792575836, 0.19092944264411926, 0.12343601882457733, 0.40105605125427246, 0.2273930311203003, 0.10293588042259216, 0.08490685373544693, 0.12798210978507996, 0.4375156760215759, 0.4116101562976837, 0.1062563955783844, 0.04352368041872978, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-25.724061965942383, 4.999356269836426, -12.870721817016602, -3.646573781967163, -0.004003419540822506, -0.09423709660768509, 2.021406888961792, 0.007158294785767794, -0.023620715364813805, 0.06474211066961288, 0.007855338044464588, 8.579492714488879e-05, 0.03253219649195671, -0.004105859436094761, 0.0042416611686348915, 0.004572988022118807, 0.020681161433458328, -0.01614978164434433, 0.005558737553656101, -0.0006591928540728986, -0.028490791097283363, 0.12198247760534286, 0.006567990407347679, -0.0006890883669257164, -2.2266483938437887e-05, 0.11642920970916748, -0.032057907432317734, 0.027230819687247276, 0.00598625373095274, 23.159744262695312, 1.9269261360168457, 10.252713203430176, -4.45778226852417, -0.48865774273872375, 1.0416467189788818, -0.9734417796134949, 0.020865606144070625, 0.510055661201477, 0.25746476650238037, 0.19058053195476532, 0.018588025122880936, 0.5029602646827698, -0.0061684828251600266, 0.23697909712791443, 0.04502445086836815, 0.0012308073928579688, -0.014249888248741627, 0.0005831763264723122, 0.002645990578457713, 0.004971191752701998, -0.00722444336861372, -0.00033564568730071187, 0.0008856475469656289, -0.00013697377289645374, 0.014178931713104248, -0.010285465978085995, -0.0004237591929268092, 0.0015622861683368683, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.1340314149856567, 0.957605242729187, 0.5387962460517883, 0.7510248422622681, 0.28061017394065857, 0.36877182126045227, 0.2491036057472229, 0.11505488306283951, 0.07337882369756699, 0.09720411151647568, 0.068425253033638, 0.008306059055030346, 0.06215908005833626, 0.05243579298257828, 0.01815636083483696, 0.004932428244501352, 0.06637156009674072, 0.04580406844615936, 0.016366049647331238, 0.005358041264116764, 0.15404333174228668, 0.18698781728744507, 0.029822293668985367, 0.005917331203818321, 0.0005914518842473626, 0.1843668669462204, 0.1345902979373932, 0.05695156380534172, 0.012090872973203659, 4.364907741546631, 2.523625373840332, 2.9577796459198, 1.4753433465957642, 0.37833088636398315, 1.0840359926223755, 0.908238410949707, 0.5411301851272583, 0.9562312960624695, 0.5231447219848633, 0.48755356669425964, 0.08580522984266281, 0.8610612750053406, 0.21127018332481384, 0.41431763768196106, 0.09067097306251526, 0.056179750710725784, 0.06898827105760574, 0.008816809393465519, 0.010690934024751186, 0.03732931986451149, 0.05823760852217674, 0.014275291934609413, 0.01024774182587862, 0.0108339237049222, 0.056677863001823425, 0.0862947553396225, 0.01736602932214737, 0.0045064836740493774, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2864]}, "observation.state.tcp": {"min": [0.36177465319633484, 0.19218793511390686, 0.940507709980011, -1.2127301692962646, 1.2170737981796265, -1.6588749885559082, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3455229699611664, -0.2444964051246643, 0.8993738293647766, -0.3369673490524292, 1.218147873878479, 0.5738029479980469, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4681147336959839, 0.3050110936164856, 1.05180823802948, -0.9181356430053711, 1.9162644147872925, -1.228915810585022, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49280035495758057, -0.013895065523684025, 1.0518189668655396, 1.2883111238479614, 2.2608790397644043, 1.4370932579040527, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4207139313220978, 0.2605598568916321, 0.9612876772880554, -1.122570276260376, 1.5842089653015137, -1.536169409751892, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.39441242814064026, -0.11976218968629837, 0.9286695122718811, -0.044585708528757095, 1.9791152477264404, 0.9549900889396667, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.011416002176702023, 0.018831288442015648, 0.01844753883779049, 0.07255738228559494, 0.18070833384990692, 0.09436842799186707, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.02948303148150444, 0.0590868815779686, 0.022610167041420937, 0.24242283403873444, 0.15407225489616394, 0.17155899107456207, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2864]}, "action": {"min": [1.0109471082687378, -0.8308626413345337, -0.13115736842155457, 1.063966155052185, -0.11754307150840759, -0.7699999809265137, 0.29867061972618103, 0.0, -0.2379480004310608, -0.018355553969740868, 0.0, 0.0, -0.06167540326714516, -0.012836523354053497, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, 0.0, -0.15170665085315704, -0.11532563716173172, 0.0, 0.0, 1.0506447553634644, -0.8881309032440186, -0.2307717651128769, 0.8458595275878906, -1.248104214668274, -0.768084704875946, -0.15261423587799072, 0.0, -0.29929861426353455, 0.0, -0.20122820138931274, -0.1741490662097931, 0.0, -0.18713492155075073, 0.0, 0.0, 0.0, -0.08445418626070023, 0.0, 0.0, 0.0, -0.10151965171098709, 0.0, 0.0, 0.0, -0.06350676715373993, -0.14734750986099243, 0.0, 0.0, 0.5615328550338745, -1.1069588661193848, 0.5442397594451904, -0.04926550015807152, -0.05357058718800545, 0.0, -0.8726646304130554], "max": [1.2041549682617188, -0.5727300643920898, 0.0, 1.5700000524520874, 0.0, 0.17576812207698822, 0.785454273223877, 1.2017780542373657, 0.0, 0.5335323810577393, 0.32320135831832886, 0.4822549521923065, 0.7635696530342102, 0.14880698919296265, 0.23237840831279755, 0.297256737947464, 0.5334293842315674, 0.18648523092269897, 0.22719097137451172, 0.01383435633033514, 0.19758743047714233, 0.20431774854660034, 0.3596780300140381, 0.33462831377983093, 0.03368046134710312, 0.3368046283721924, 0.10556762665510178, 0.4874989688396454, 0.41774123907089233, 1.301807165145874, -0.2019660472869873, -0.0011825325200334191, 1.5708826780319214, 0.13276343047618866, -0.018166445195674896, 0.6235266923904419, 1.5708963871002197, 0.0, 0.8003034591674805, 0.3490658402442932, 0.4968714416027069, 1.1868218183517456, 0.28561872243881226, 0.8968803286552429, 1.296309471130371, 1.5707963705062866, 0.27296340465545654, 1.7453292608261108, 1.333700180053711, 1.5707963705062866, 0.24995368719100952, 1.7453292608261108, 1.3962633609771729, 0.07898660004138947, 1.5707963705062866, 0.3405541777610779, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.7315067648887634, 0.005601420067250729, 0.05034724250435829, 0.24322132766246796, -0.566569447517395], "mean": [1.1521997451782227, -0.8088372349739075, -0.11920614540576935, 1.2983522415161133, -0.11211549490690231, -0.06295516341924667, 0.5178629755973816, 1.1627423763275146, -0.20828311145305634, 0.4178912937641144, 0.28223100304603577, 0.4745166301727295, 0.6212193369865417, 0.10865065455436707, 0.19207966327667236, 0.2904205024242401, 0.38376933336257935, 0.15410417318344116, 0.1664133071899414, 0.0019245194271206856, 0.12797267735004425, 0.15941788256168365, 0.24972593784332275, 0.32187190651893616, 0.024448631331324577, 0.22034426033496857, 0.053930774331092834, 0.2984156608581543, 0.2555104196071625, 1.1476744413375854, -0.5919256806373596, -0.222492054104805, 1.305741548538208, -1.1584396362304688, -0.3464711010456085, 0.1041637733578682, 1.3268647193908691, -0.19229939579963684, 0.5288959741592407, -0.02777140587568283, 0.08509200811386108, 0.9179924726486206, 0.17919938266277313, 0.05912736430764198, 0.5277955532073975, 1.5138232707977295, 0.18180793523788452, 1.673424243927002, 1.1537103652954102, 1.5081799030303955, 0.15286728739738464, 1.67869234085083, 1.1785401105880737, 0.07195062190294266, 1.508091926574707, 0.258340448141098, 1.6847419738769531, 1.347785472869873, 0.5615401268005371, -1.106938123703003, 0.697543203830719, -0.0182151161134243, 0.02141890488564968, 0.20783613622188568, -0.862281858921051], "std": [0.022909952327609062, 0.02776980958878994, 0.013785475865006447, 0.04589163884520531, 0.011956390924751759, 0.1583976447582245, 0.12092118710279465, 0.14319007098674774, 0.03237978368997574, 0.1446058750152588, 0.03660990297794342, 0.06062519550323486, 0.1695174276828766, 0.029997486621141434, 0.05678384378552437, 0.03725472092628479, 0.19619044661521912, 0.031107034534215927, 0.053442683070898056, 0.004334577824920416, 0.08986135572195053, 0.046133313328027725, 0.10339799523353577, 0.04120543971657753, 0.011973576620221138, 0.1585586816072464, 0.05379409343004227, 0.19446171820163727, 0.16708919405937195, 0.03368077427148819, 0.15032634139060974, 0.022097935900092125, 0.15738564729690552, 0.20393671095371246, 0.150416299700737, 0.14076119661331177, 0.16497521102428436, 0.05058775469660759, 0.16797970235347748, 0.084227554500103, 0.1557970643043518, 0.20500873029232025, 0.06918490678071976, 0.07956680655479431, 0.2556879222393036, 0.28382351994514465, 0.047041889280080795, 0.3379161059856415, 0.23686525225639343, 0.29197433590888977, 0.04655304178595543, 0.33079248666763306, 0.25065895915031433, 0.014659224078059196, 0.30755600333213806, 0.06541269272565842, 0.3095654547214508, 0.24764862656593323, 0.00011843931133626029, 2.1436346287373453e-05, 0.023327596485614777, 0.01114045362919569, 0.011654670350253582, 0.035596709698438644, 0.044395118951797485], "count": [2864]}, "observation.state.tcp_pose": {"min": [0.36177465319633484, 0.19218793511390686, 0.940507709980011, -1.2127301692962646, 1.2170737981796265, -1.6588749885559082, 0.3455229699611664, -0.2444964051246643, 0.8993738293647766, -0.3369673490524292, 1.218147873878479, 0.5738029479980469], "max": [0.4681147336959839, 0.3050110936164856, 1.05180823802948, -0.9181356430053711, 1.9162644147872925, -1.228915810585022, 0.49280035495758057, -0.013895065523684025, 1.0518189668655396, 1.2883111238479614, 2.2608790397644043, 1.4370932579040527], "mean": [0.4207139313220978, 0.2605598568916321, 0.9612876772880554, -1.122570276260376, 1.5842089653015137, -1.536169409751892, 0.39441242814064026, -0.11976218968629837, 0.9286695122718811, -0.044585708528757095, 1.9791152477264404, 0.9549900889396667], "std": [0.011416002176702023, 0.018831288442015648, 0.01844753883779049, 0.07255738228559494, 0.18070833384990692, 0.09436842799186707, 0.02948303148150444, 0.0590868815779686, 0.022610167041420937, 0.24242283403873444, 0.15407225489616394, 0.17155899107456207], "count": [2864]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.1924280971288681, 0.9402350187301636, -1.2117658853530884, 1.1955305337905884, -1.6635390520095825, 0.3453981876373291, -0.24713167548179626, 0.8988779187202454, -0.33752745389938354, 1.2198506593704224, 0.5742194652557373], "max": [0.4665113389492035, 0.3058595657348633, 1.0518032312393188, -0.8633720278739929, 1.9167060852050781, -1.2289544343948364, 0.49321386218070984, -0.013978186063468456, 1.0516927242279053, 1.2876484394073486, 2.261268377304077, 1.4446953535079956], "mean": [0.42065003514289856, 0.26062121987342834, 0.9614765644073486, -1.1204791069030762, 1.5815694332122803, -1.5375173091888428, 0.3943980932235718, -0.11986806243658066, 0.928720235824585, -0.04474686086177826, 1.9787321090698242, 0.9549564123153687], "std": [0.011387859471142292, 0.01878904551267624, 0.018632374703884125, 0.07726582139730453, 0.18470022082328796, 0.09229521453380585, 0.029455246403813362, 0.05910344421863556, 0.022708246484398842, 0.24201197922229767, 0.153917595744133, 0.17161257565021515], "count": [2864]}, "subtask_index": {"min": [813], "max": [849], "mean": [835.0352653631285], "std": [10.029346572285384], "count": [2864]}, "observation.tactile": {"min": [-0.025969794020056725, -3.3320015063509345e-05, -7.457519677700475e-05, -0.0010769126238301396, -0.00022599649673793465, -0.0004808678640983999, -0.010850517079234123, -2.3543228962807916e-05, -4.866701056016609e-05, -0.001454994548112154, -4.3424181058071554e-05, -0.00021204166114330292, -0.015341703779995441, -3.4244982089148834e-05, -7.528957212343812e-05, -0.0014342726208269596, -9.088031220017001e-05, -0.00031979125924408436, -2.169835329055786, -3.3437336242059246e-05, -7.304842438315973e-05, -0.0069485497660934925, -0.0015841462882235646, -0.03001864068210125, -0.004385585896670818, -5.119013803778216e-05, -0.1548961102962494, -0.0014279852621257305, -0.0017596110701560974, -7.448891119565815e-05, -1.5280183553695679, -3.931397804990411e-05, -8.684318891027942e-05, -0.21689385175704956, -0.02104283683001995, -0.03477069362998009, -5.63741397857666, 0.0, 0.0, -0.38595032691955566, -0.0399300791323185, -0.0937933400273323, -0.0073222871869802475, -4.980247831554152e-05, -0.00011181899753864855, -0.0019244261784479022, -4.801491377293132e-05, -0.00016762729501351714, -0.012280097231268883, -3.947371442336589e-05, -8.575759420637041e-05, -0.0020756979938596487, -0.00014428317081183195, -0.0002655419521033764, -0.007506189402192831, -3.7907655496383086e-05, -8.39241620269604e-05, -0.0009190314449369907, -5.602600867860019e-05, -0.00012790905020665377], "max": [0.00026378058828413486, 0.020224597305059433, 0.05975969508290291, 1.4311234508568305e-06, 0.00010079133789986372, 5.6065146054606885e-06, 0.0274591576308012, 0.028331007808446884, 0.08292540162801743, 8.651207963339402e-07, 0.00038332087569870055, 0.00038471902371384203, 0.0002634029369801283, 0.028315303847193718, 0.08179726451635361, 1.3985243185743457e-06, 0.0001339498849119991, 5.493867320183199e-06, 0.34145084023475647, 0.1543433666229248, 0.5018876194953918, 1.3248202321847202e-06, 0.0003572518180590123, 0.0059394570998847485, 2.283886194229126, 0.5799336433410645, 0.08735298365354538, 0.0028162437956780195, 0.0004836935841012746, 0.03323647007346153, 6.568702697753906, 11.046842575073242, 9.131308555603027, 1.5991799955372699e-06, 0.031101509928703308, 0.1435205638408661, 9.372628211975098, 18.229145050048828, 25.90357780456543, 0.0, 0.015414172783493996, 0.15668565034866333, 0.07212111353874207, 0.03798551484942436, 0.10909344255924225, 2.031503072430496e-06, 0.0005508672329597175, 0.001099123153835535, 0.013333329930901527, 0.040652770549058914, 0.11733599007129669, 1.5781918136781314e-06, 0.00023893894103821367, 0.00021716525952797383, 0.0024966592900455, 0.01463689748197794, 0.039760809391736984, 1.5420009731315076e-06, 0.00010343936446588486, 2.665717875061091e-05], "mean": [-0.0010406235232949257, 0.0013245763257145882, 0.004014365840703249, -6.889014184707776e-05, -7.559702680737246e-06, -1.7810922145145014e-05, 0.00021226456738077104, 0.0016110629076138139, 0.004817149136215448, -8.44367896206677e-05, 1.9666704247356392e-05, -2.8271269911783747e-06, -0.001966868992894888, 0.003275688039138913, 0.009547324851155281, -0.00017491853213869035, 1.2749165762215853e-05, -4.0274760976899415e-05, -0.06014525145292282, 0.007082068827003241, 0.021101636812090874, -0.00030797417275607586, -5.135860919835977e-05, -0.0008119871490634978, 0.0030706569086760283, 0.0020207345951348543, 0.004003774840384722, -8.535724191460758e-05, 4.381529379315907e-06, 4.489868297241628e-05, 0.8547214269638062, 1.1495004892349243, 1.4239898920059204, -0.03154899552464485, 0.003519384888932109, 0.017173437401652336, 0.19922608137130737, 2.2168145179748535, 4.1022629737854, -0.07508687674999237, -0.0023347437381744385, 0.0038572512567043304, 0.0027633635327219963, 0.00407037977129221, 0.012145553715527058, -0.00024021089484449476, 4.238998008077033e-05, 3.379787449375726e-05, -0.0013208977179601789, 0.007821529172360897, 0.022373218089342117, -0.0003547348896972835, 2.755959485511994e-06, -2.403345024504233e-05, -0.0012450569774955511, 0.0030801398679614067, 0.008668248541653156, -0.00018965885101351887, -2.2606691629789566e-07, -2.7586966098169796e-05], "std": [0.0029198697302490473, 0.0024101282469928265, 0.007241272367537022, 0.00013497653708327562, 2.8426731660147198e-05, 5.3765688790008426e-05, 0.0018582191551104188, 0.0030491824727505445, 0.009185746312141418, 0.00016197831428144127, 4.2944560846081004e-05, 2.6771675038617104e-05, 0.002858592662960291, 0.004757687449455261, 0.013851489871740341, 0.0002558290434535593, 2.3357160898740403e-05, 5.994188177282922e-05, 0.2455165982246399, 0.019776716828346252, 0.0626249685883522, 0.0008672411786392331, 0.00020812192815355957, 0.003339379793033004, 0.06967970728874207, 0.015980510041117668, 0.006985300220549107, 0.00014026649296283722, 4.6155484596965834e-05, 0.0010355267440900207, 1.7573736906051636, 2.0676920413970947, 2.4911651611328125, 0.05602126196026802, 0.008885950781404972, 0.036654893308877945, 1.712201714515686, 3.862579345703125, 6.929098606109619, 0.12055272608995438, 0.0072115021757781506, 0.02997123822569847, 0.008286288939416409, 0.005475280340760946, 0.016549400985240936, 0.00030673222499899566, 8.122416329570115e-05, 0.00012078100553480908, 0.002597297076135874, 0.006978085730224848, 0.020012740045785904, 0.00030018502729944885, 4.6284716518130153e-05, 4.446572347660549e-05, 0.001251089503057301, 0.0028185329865664244, 0.0079610301181674, 0.00017585094610694796, 1.3924726772529539e-05, 2.5366380214109086e-05], "count": [2864]}, "timestamp": {"min": [0.0], "max": [95.43333333333334], "mean": [47.71666666666666], "std": [27.558851169411575], "count": [2864]}, "frame_index": {"min": [0], "max": [2863], "mean": [1431.5], "std": [826.7655350823472], "count": [2864]}, "episode_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [2864]}, "index": {"min": [42528], "max": [45391], "mean": [43959.5], "std": [826.7655350823472], "count": [2864]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2864]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5340227484703064]], [[0.5336340069770813]], [[0.5354828834533691]]], "std": [[[0.30032840371131897]], [[0.30035144090652466]], [[0.30103039741516113]]], "count": [2864]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25089746713638306]], [[0.25130459666252136]], [[0.2513747215270996]]], "std": [[[0.15910497307777405]], [[0.1597384363412857]], [[0.1593862920999527]]], "count": [2864]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.1848689466714859]], [[0.18469437956809998]], [[0.18414640426635742]]], "std": [[[0.12407698482275009]], [[0.12373948842287064]], [[0.1266859769821167]]], "count": [2864]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5375812649726868]], [[0.5372629165649414]], [[0.5388249158859253]]], "std": [[[0.3007757067680359]], [[0.30093851685523987]], [[0.30216312408447266]]], "count": [2864]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7019608020782471]], [[0.7019608020782471]], [[0.7019608020782471]]], "mean": [[[0.001505567692220211]], [[0.001505567692220211]], [[0.001505567692220211]]], "std": [[[0.023893844336271286]], [[0.023893844336271286]], [[0.023893844336271286]]], "count": [2864]}, "observation.images.tactile_raw": {"min": [[[0.027450980618596077]], [[0.027450980618596077]], [[0.027450980618596077]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46784016489982605]], [[0.46784016489982605]], [[0.46784016489982605]]], "std": [[[0.23512594401836395]], [[0.23512594401836395]], [[0.23512594401836395]]], "count": [2864]}}}
+{"episode_index": 28, "stats": {"observation.state": {"min": [1.0499860048294067, -0.7800305485725403, -0.15917447209358215, 0.9398068189620972, -0.03880911320447922, -0.7700454592704773, 0.30142804980278015, 0.0062539540231227875, -0.2618672847747803, -0.04474892467260361, -0.0014120058622211218, 0.003083987860009074, -0.12700651586055756, -0.06169750168919563, 0.003425431903451681, 0.0008376258774660528, -0.1736723929643631, -0.03656972572207451, 0.0034598244819790125, 0.0007901795324869454, -0.16135957837104797, -0.037678297609090805, 0.0030644868966192007, 0.0007702255388721824, 0.013048618100583553, -0.1417597085237503, -0.03838406503200531, 0.0035339281894266605, 0.0008367390255443752, 1.0344740152359009, -0.77982097864151, -0.2308814823627472, 0.9035704135894775, -1.2534798383712769, -0.7695791125297546, -0.20402580499649048, 0.007579039316624403, -0.23962253332138062, 0.003131603356450796, -0.25230732560157776, 0.003088951576501131, 0.0051650903187692165, -0.1295752078294754, 0.002691132016479969, 0.0007502715452574193, 0.0036679378245025873, -0.05389920994639397, 0.0026432659942656755, 0.0008828549762256444, -9.812517237151042e-05, -0.0322364941239357, 0.003553429152816534, 0.0008606838528066874, 0.005637524649500847, -0.05359305813908577, -0.03658517822623253, 0.003492798889055848, 0.000870439107529819, 0.5613411068916321, -1.1070547103881836, 0.5441796779632568, -0.05531918257474899, -0.05167597904801369, 0.0, -0.8729309439659119], "max": [1.2228443622589111, -0.5532500743865967, -2.516687118259142e-06, 1.5699803829193115, 3.127882519038394e-05, 0.11122822761535645, 0.6981630325317383, 1.1869077682495117, 4.3362319956941064e-06, 0.40474733710289, 0.3144978880882263, 0.4796217679977417, 0.8418071866035461, 0.05915115028619766, 0.19326619803905487, 0.29513871669769287, 0.5441287159919739, 0.09595047682523727, 0.15285807847976685, 0.022442074492573738, 0.1342746913433075, 0.08556731045246124, 0.17023129761219025, 0.32750993967056274, 0.01367691159248352, 0.2559460997581482, 0.03279753029346466, 0.6178640723228455, 0.531024158000946, 1.3602887392044067, -0.3276841342449188, -0.00023405191313941032, 1.5694105625152588, 0.16750673949718475, -0.011018776334822178, 0.6532936692237854, 1.5120353698730469, 0.00048818939831107855, 0.8304698467254639, 0.3156123757362366, 0.5909574031829834, 1.1384645700454712, 0.2806328535079956, 0.7273254990577698, 1.067768931388855, 1.4689050912857056, 0.2768542766571045, 1.6556692123413086, 1.3082997798919678, 1.4687659740447998, 0.2255001962184906, 1.6548182964324951, 1.3082265853881836, 0.069211944937706, 1.468646764755249, 0.3109460175037384, 1.6552983522415161, 1.3081852197647095, 0.5627791881561279, -1.1060960292816162, 0.6794576048851013, 0.0, 0.0, 0.2274126559495926, -0.5998823642730713], "mean": [1.1618320941925049, -0.6313029527664185, -0.14466680586338043, 1.002606749534607, -0.010287919081747532, -0.08499015867710114, 0.48131704330444336, 1.1532396078109741, -0.22516274452209473, 0.22549650073051453, 0.2876482307910919, 0.4716990888118744, 0.5431048274040222, 0.03521835058927536, 0.10026377439498901, 0.2817017436027527, 0.30035004019737244, 0.06368987262248993, 0.07964380085468292, 0.004440238233655691, 0.04626455157995224, 0.02830491028726101, 0.08041811734437943, 0.31671208143234253, 0.013333284296095371, 0.026112213730812073, -0.01999182440340519, 0.14343270659446716, 0.12179246544837952, 1.113750696182251, -0.5153675079345703, -0.22225025296211243, 1.2078725099563599, -1.1093984842300415, -0.3550996482372284, 0.1274314671754837, 1.3480815887451172, -0.17109794914722443, 0.5085752606391907, -0.04282998666167259, 0.14705508947372437, 0.9166020750999451, 0.1844029724597931, 0.07145791500806808, 0.5685115456581116, 1.4116106033325195, 0.1777511090040207, 1.5852570533752441, 1.2050979137420654, 1.4080814123153687, 0.12586286664009094, 1.5841227769851685, 1.2454066276550293, 0.06588423252105713, 1.4038887023925781, 0.2490483969449997, 1.5935763120651245, 1.2589869499206543, 0.5615385174751282, -1.1068642139434814, 0.6669038534164429, -0.031341880559921265, -0.0226329043507576, 0.18925125896930695, -0.8652346730232239], "std": [0.03082374483346939, 0.023612456396222115, 0.017469879239797592, 0.0655243769288063, 0.008428179658949375, 0.13857904076576233, 0.10351327806711197, 0.1317729949951172, 0.03331911563873291, 0.12692619860172272, 0.035008493810892105, 0.056415583938360214, 0.2448943704366684, 0.023378070443868637, 0.06605543196201324, 0.03469096124172211, 0.19016097486019135, 0.02796017937362194, 0.06496506184339523, 0.006655280012637377, 0.07491916418075562, 0.03442661464214325, 0.05901215597987175, 0.03891213610768318, 9.272820898331702e-05, 0.1274740844964981, 0.024866819381713867, 0.22748710215091705, 0.19666306674480438, 0.04091925919055939, 0.10418591648340225, 0.022849805653095245, 0.12104666233062744, 0.20985570549964905, 0.13560664653778076, 0.15596625208854675, 0.15736721456050873, 0.03649919480085373, 0.14578860998153687, 0.10083281993865967, 0.14081716537475586, 0.1798248440027237, 0.06236850842833519, 0.09000753611326218, 0.2588072419166565, 0.2638173997402191, 0.04725562408566475, 0.3271999955177307, 0.25154247879981995, 0.2774167060852051, 0.03962361440062523, 0.3273161053657532, 0.2576918303966522, 0.0125552574172616, 0.29436352849006653, 0.05913422629237175, 0.3042607307434082, 0.2401643842458725, 0.00011402294330764562, 5.985247116768733e-05, 0.017600512132048607, 0.0081828273832798, 0.006801033392548561, 0.033621761947870255, 0.03931591287255287], "count": [2594]}, "observation.state.joint_torque": {"min": [-49.95600128173828, -5.072999954223633, -19.820999145507812, -8.621999740600586, -1.0119999647140503, -0.7143999934196472, 1.0471999645233154, -0.6303961277008057, -0.6214814782142639, -0.4796781837940216, -0.37156420946121216, -0.12451920658349991, -0.3310151696205139, -0.29263660311698914, -0.08965382725000381, -0.033534638583660126, -0.3060690760612488, -0.2580958902835846, -0.15606407821178436, -0.03567514568567276, -0.38474515080451965, -0.5190702080726624, -0.19757047295570374, -0.046377696096897125, -0.002638806588947773, -0.5603271126747131, -0.5449756383895874, -0.10293588042259216, -0.04209667816758156, -5.770500183105469, -25.273500442504883, -12.140999794006348, -14.984000205993652, -3.023200035095215, -8.854399681091309, -4.18720006942749, -1.9128382205963135, -1.2060304880142212, -1.487499475479126, -2.768712282180786, -0.2473781555891037, -1.2952766418457031, -1.0717215538024902, -0.6292370557785034, -0.21333740651607513, -0.6044624447822571, -0.47301584482192993, -0.6342178583145142, -0.08704736083745956, -0.926842451095581, -0.49316462874412537, -0.25235894322395325, -0.11772798746824265, -0.11390847712755203, -0.36555585265159607, -0.47013747692108154, -0.17100638151168823, -0.04994520545005798, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-17.219999313354492, 21.076499938964844, -5.498000144958496, 7.001999855041504, 1.9143999814987183, 1.9287999868392944, 3.815200090408325, 0.6240285038948059, 0.5909167528152466, 0.5455407500267029, 0.6499266624450684, 0.13780125975608826, 0.37994784116744995, 0.20436587929725647, 0.13116022944450378, 0.020691584795713425, 0.3530828356742859, 0.25042015314102173, 0.11289741843938828, 0.022832093760371208, 0.3952992558479309, 0.4615022838115692, 0.13946151733398438, 0.02425910159945488, 0.0021990055684000254, 0.4519076347351074, 0.499880850315094, 0.11787818372249603, 0.04066966846585274, 57.974998474121094, 15.349499702453613, 22.889999389648438, 6.927000045776367, 0.8015999794006348, 2.7495999336242676, 4.9552001953125, 2.605637311935425, 4.682760715484619, 2.2331132888793945, 1.9808471202850342, 0.660781979560852, 2.1463215351104736, 1.6838597059249878, 1.0575830936431885, 0.21476440131664276, 0.3857046067714691, 0.2868798077106476, 0.09297433495521545, 0.04780469834804535, 0.3386908769607544, 0.26673105359077454, 0.08301279693841934, 0.0642152652144432, 0.11654729396104813, 0.4096912145614624, 0.49124571681022644, 0.12119869887828827, 0.09346889704465866, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.22362518310547, 3.0817902088165283, -11.421985626220703, -2.0754201412200928, 0.17360377311706543, -0.043592605739831924, 2.041165590286255, 0.003419475629925728, -0.020870830863714218, 0.0711638480424881, 0.0032710370142012835, -1.7921611288329586e-05, 0.047245729714632034, 0.0074120089411735535, 0.006304984912276268, 0.0019457698799669743, 0.05006502941250801, -0.031158199533820152, 0.005332795903086662, -0.0033537952695041895, 0.04421708360314369, 0.04041402414441109, 0.011842596344649792, 0.0025071618147194386, -2.1193174688960426e-05, 0.05986033007502556, 0.017390945926308632, 0.007688124664127827, -0.0024532671086490154, 24.265092849731445, 1.828812599182129, 10.132405281066895, -3.91894793510437, -0.4466354250907898, 1.0637739896774292, -1.0441128015518188, 0.09698842465877533, 0.55513596534729, 0.2802303731441498, 0.18244726955890656, 0.049438945949077606, 0.5583844184875488, -0.04447994381189346, 0.261109858751297, 0.05366351455450058, 0.009037134237587452, -0.00700512295588851, -0.0004429065447766334, 0.0019666627049446106, 0.0038988639134913683, -0.01384785957634449, -8.960776540334336e-06, -0.00100891652982682, 0.00014140371058601886, 0.021297207102179527, -0.01439384650439024, 0.00011328772961860523, 0.0014723939821124077, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.087147831916809, 1.1241226196289062, 0.6383079886436462, 0.6885427236557007, 0.26793667674064636, 0.33614423871040344, 0.26862797141075134, 0.10521584749221802, 0.07753047347068787, 0.11028178781270981, 0.07380533218383789, 0.008112461306154728, 0.06596371531486511, 0.051502831280231476, 0.018913911655545235, 0.004836939740926027, 0.06716008484363556, 0.04758770391345024, 0.016500767320394516, 0.0081670843064785, 0.08284363150596619, 0.0957213044166565, 0.02569853886961937, 0.005990840028971434, 0.0003145607188344002, 0.08809879422187805, 0.0775359719991684, 0.018906114622950554, 0.014073437079787254, 4.048871994018555, 2.425572633743286, 2.769021987915039, 1.4850889444351196, 0.32828181982040405, 1.0940296649932861, 0.867362380027771, 0.5771252512931824, 0.97983318567276, 0.4871687889099121, 0.4816737473011017, 0.12025793641805649, 0.8350768089294434, 0.3003693222999573, 0.4093085527420044, 0.09538799524307251, 0.04593731835484505, 0.08029340952634811, 0.019219405949115753, 0.009666171856224537, 0.05154930800199509, 0.0811804011464119, 0.009534095413982868, 0.007324529346078634, 0.010400781407952309, 0.05871976539492607, 0.10894114524126053, 0.011264312081038952, 0.004594073630869389, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2594]}, "observation.state.tcp": {"min": [0.3617294430732727, 0.19219863414764404, 0.9195464253425598, -1.3085509538650513, 1.1707813739776611, -1.6505918502807617, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.337844580411911, -0.22887180745601654, 0.8911012411117554, -0.2813195586204529, 1.2181308269500732, 0.6290848851203918, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.49018388986587524, 0.2556619644165039, 1.051803469657898, -0.9631965756416321, 1.764910340309143, -1.2288349866867065, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5075937509536743, -0.02568809874355793, 1.0574142932891846, 1.264575481414795, 2.2708613872528076, 1.4791682958602905, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4709838628768921, 0.24306292831897736, 0.9480990171432495, -1.1916563510894775, 1.5283790826797485, -1.4307061433792114, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.38966065645217896, -0.1290246546268463, 0.9261634349822998, 0.020905382931232452, 1.9641903638839722, 0.9136746525764465, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.013633022084832191, 0.010867614299058914, 0.024263037368655205, 0.08090531826019287, 0.14630068838596344, 0.07108601182699203, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.026624243706464767, 0.05736875534057617, 0.027926858514547348, 0.22842010855674744, 0.1590978354215622, 0.17471669614315033, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2594]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.15931592881679535, 0.9373724460601807, -0.03873360529541969, -0.7699999809265137, 0.30139732360839844, 0.0, -0.25884872674942017, -0.062491148710250854, 0.0, 0.0, -0.1670668125152588, -0.06115681678056717, 0.0, 0.0, -0.1745329201221466, -0.041981764137744904, 0.0, 0.0, -0.1745329201221466, -0.07994801551103592, 0.0, 0.0, 0.0, -0.15113122761249542, -0.21292513608932495, 0.0, 0.0, 1.034494161605835, -0.7787514328956604, -0.2308676391839981, 0.903192937374115, -1.253473162651062, -0.7673327922821045, -0.2040877491235733, 0.0, -0.24033628404140472, 0.0, -0.2535753846168518, -0.1745329201221466, 0.0, -0.12922722101211548, 0.0, 0.0, 0.0, -0.07208646088838577, 0.0, 0.0, 0.0, -0.07822234183549881, 0.0, 0.0, 0.0, -0.057639386504888535, -0.14207416772842407, 0.0, 0.0, 0.5615328550338745, -1.1069588661193848, 0.5442397594451904, -0.05621827766299248, -0.06237863004207611, 0.0, -0.8726646304130554], "max": [1.2228410243988037, -0.5522367358207703, 0.0, 1.5700000524520874, 0.0, 0.1112421527504921, 0.8336660861968994, 1.1950668096542358, 0.0, 0.41355109214782715, 0.3372947573661804, 0.4822549521923065, 0.8533169627189636, 0.05533020943403244, 0.20054484903812408, 0.29850301146507263, 0.5516459345817566, 0.09828131645917892, 0.16200299561023712, 0.026048636063933372, 0.14106345176696777, 0.08994024246931076, 0.17491675913333893, 0.3323083817958832, 0.026940535753965378, 0.26448172330856323, 0.03251176327466965, 0.6219908595085144, 0.5331349968910217, 1.3604843616485596, -0.3276057839393616, -0.0014147449983283877, 1.5670742988586426, 0.16758036613464355, -0.011142623610794544, 0.6557810306549072, 1.510256290435791, 0.0, 0.8352012634277344, 0.3490658402442932, 0.594087541103363, 1.1549917459487915, 0.30728620290756226, 0.7309806942939758, 1.0617542266845703, 1.5707963705062866, 0.28389298915863037, 1.7453292608261108, 1.3962633609771729, 1.5707963705062866, 0.23001188039779663, 1.7453292608261108, 1.3962633609771729, 0.07911889255046844, 1.5707963705062866, 0.3398832678794861, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.1068682670593262, 0.6796393990516663, 0.0, 0.0, 0.22775036096572876, -0.6000000238418579], "mean": [1.1618564128875732, -0.6312646269798279, -0.14467428624629974, 1.0025749206542969, -0.010293073952198029, -0.0851823091506958, 0.48381975293159485, 1.158705234527588, -0.22580702602863312, 0.22979101538658142, 0.2894195318222046, 0.47407835721969604, 0.5489623546600342, 0.034949034452438354, 0.10290562361478806, 0.2851194441318512, 0.30678728222846985, 0.06451805680990219, 0.08244924247264862, 0.003583381650969386, 0.05029913783073425, 0.030987340956926346, 0.08230509608983994, 0.31982851028442383, 0.009344015270471573, 0.030010631307959557, -0.07534337043762207, 0.1460081785917282, 0.12287496030330658, 1.113837480545044, -0.5154477953910828, -0.22226111590862274, 1.2078267335891724, -1.1098238229751587, -0.3550979197025299, 0.12752693891525269, 1.3484961986541748, -0.16942745447158813, 0.5109339952468872, -0.0392453595995903, 0.13320493698120117, 0.9260032773017883, 0.18542081117630005, 0.07325147837400436, 0.5847817659378052, 1.5105434656143188, 0.17784082889556885, 1.6648443937301636, 1.2090331315994263, 1.5069516897201538, 0.12498657405376434, 1.672551155090332, 1.3110897541046143, 0.07159379124641418, 1.504122257232666, 0.24879103899002075, 1.6793018579483032, 1.3434085845947266, 0.5615407824516296, -1.1069386005401611, 0.6669455766677856, -0.03138653561472893, -0.02268022671341896, 0.18929970264434814, -0.8652037978172302], "std": [0.03081251122057438, 0.023586925119161606, 0.01744859293103218, 0.06552773714065552, 0.008437837474048138, 0.1389007419347763, 0.10924363136291504, 0.14482399821281433, 0.034377571195364, 0.12868976593017578, 0.038769762963056564, 0.062273506075143814, 0.2492317259311676, 0.023215679451823235, 0.06653480976819992, 0.03806590661406517, 0.1937641054391861, 0.02825506217777729, 0.06823575496673584, 0.008075328543782234, 0.0768139660358429, 0.03733936697244644, 0.061247728765010834, 0.04253809154033661, 0.010174374096095562, 0.13106831908226013, 0.0671955794095993, 0.22934211790561676, 0.1979585438966751, 0.04107006639242172, 0.10418306291103363, 0.02281321957707405, 0.12110677361488342, 0.20850729942321777, 0.13588327169418335, 0.15632803738117218, 0.16996441781520844, 0.03816220909357071, 0.152574822306633, 0.10479705035686493, 0.15965822339057922, 0.18895713984966278, 0.063850037753582, 0.09055887162685394, 0.26800698041915894, 0.28932714462280273, 0.04821893945336342, 0.3458307385444641, 0.25292399525642395, 0.30116304755210876, 0.04174201190471649, 0.3456583619117737, 0.2756478488445282, 0.015039023943245411, 0.3159596621990204, 0.06807035207748413, 0.3258591890335083, 0.26072609424591064, 0.00011983023432549089, 2.0300942196627147e-05, 0.01777363009750843, 0.008213941007852554, 0.006934242323040962, 0.03370237722992897, 0.03964945673942566], "count": [2594]}, "observation.state.tcp_pose": {"min": [0.3617294430732727, 0.19219863414764404, 0.9195464253425598, -1.3085509538650513, 1.1707813739776611, -1.6505918502807617, 0.337844580411911, -0.22887180745601654, 0.8911012411117554, -0.2813195586204529, 1.2181308269500732, 0.6290848851203918], "max": [0.49018388986587524, 0.2556619644165039, 1.051803469657898, -0.9631965756416321, 1.764910340309143, -1.2288349866867065, 0.5075937509536743, -0.02568809874355793, 1.0574142932891846, 1.264575481414795, 2.2708613872528076, 1.4791682958602905], "mean": [0.4709838628768921, 0.24306292831897736, 0.9480990171432495, -1.1916563510894775, 1.5283790826797485, -1.4307061433792114, 0.38966065645217896, -0.1290246546268463, 0.9261634349822998, 0.020905382931232452, 1.9641903638839722, 0.9136746525764465], "std": [0.013633022084832191, 0.010867614299058914, 0.024263037368655205, 0.08090531826019287, 0.14630068838596344, 0.07108601182699203, 0.026624243706464767, 0.05736875534057617, 0.027926858514547348, 0.22842010855674744, 0.1590978354215622, 0.17471669614315033], "count": [2594]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.19037571549415588, 0.9194930195808411, -1.3078234195709229, 1.0694130659103394, -1.6513574123382568, 0.3378832936286926, -0.2287004142999649, 0.8911446928977966, -0.3018427789211273, 1.2196731567382812, 0.6261472702026367], "max": [0.49012282490730286, 0.25564971566200256, 1.0518032312393188, -0.8643878698348999, 1.7649226188659668, -1.2289544343948364, 0.5076239109039307, -0.025515276938676834, 1.0574344396591187, 1.2663557529449463, 2.270083427429199, 1.4878782033920288], "mean": [0.47094810009002686, 0.24303382635116577, 0.9482854008674622, -1.1898088455200195, 1.5263160467147827, -1.4318064451217651, 0.3896474540233612, -0.1290917694568634, 0.926224946975708, 0.020380914211273193, 1.9640398025512695, 0.9134809374809265], "std": [0.0136019391939044, 0.01087655033916235, 0.024523550644516945, 0.08549182862043381, 0.15057659149169922, 0.07021649926900864, 0.02666393294930458, 0.05737953260540962, 0.028018398210406303, 0.22743983566761017, 0.15916404128074646, 0.17490100860595703], "count": [2594]}, "subtask_index": {"min": [64], "max": [885], "mean": [864.0778720123361], "std": [59.70511663283897], "count": [2594]}, "observation.tactile": {"min": [-0.020019790157675743, -3.4939304896397516e-05, -7.776553684379905e-05, -0.0011896404903382063, -0.000234851919231005, -0.00035587098682299256, -0.006966178771108389, -2.5367227863171138e-05, -5.414299084804952e-05, -0.000925778120290488, -1.2126880392315798e-05, -0.0001409420947311446, -0.01884632743895054, -3.515394200803712e-05, -7.869023829698563e-05, -0.0016814781120046973, -2.0537792806862853e-05, -0.0003606293466873467, -0.07335064560174942, -2.8941358323208988e-05, -6.349938485072926e-05, -0.0006008875789120793, -0.00013399064482655376, -0.0009487533825449646, -0.002751679392531514, -7.344724144786596e-05, -0.0001273727393709123, -0.0006825182354077697, -1.9849761883961037e-05, -5.3114446927793324e-05, -10.481987953186035, -3.951278267777525e-05, -0.12502214312553406, -0.17798492312431335, -0.017118971794843674, -0.18515373766422272, -6.61394739151001, -1.2494670152664185, 0.0, -0.34363093972206116, -0.028610972687602043, -0.13826096057891846, -0.008893345482647419, -5.070079714641906e-05, -0.00011375157191650942, -0.0012253824388608336, -3.0784827686147764e-05, -0.0001882061769720167, -0.013334697112441063, -4.026695023640059e-05, -8.774538582656533e-05, -0.0018689323915168643, -9.629078704165295e-05, -0.0002959611883852631, -0.01461704634130001, -3.425849718041718e-05, -7.607683801325038e-05, -0.0014110170304775238, -0.00014213388203643262, -0.0002536678803153336], "max": [0.0002756103058345616, 0.020614873617887497, 0.05942011997103691, 1.48438311953214e-06, 8.146877371473238e-05, 5.880873686692212e-06, 0.015612557530403137, 0.01656622812151909, 0.055507127195596695, 1.0243832093692617e-06, 0.0003265964041929692, 0.00021686310356017202, 0.0006017524283379316, 0.023997923359274864, 0.07212888449430466, 1.5032107967272168e-06, 0.00011808537965407595, 7.565574833279243e-06, 0.011427238583564758, 0.01708444394171238, 0.045652009546756744, 1.1603028724493925e-06, 0.00015627463290002197, 0.0001406402006978169, 0.1338641345500946, 0.020800983533263206, 0.03923480957746506, 2.4414707695541438e-06, 7.624561112606898e-05, 0.002317664911970496, 7.343104839324951, 10.569343566894531, 8.67060375213623, 0.0012157706078141928, 0.039275288581848145, 0.15917278826236725, 5.9366679191589355, 12.520726203918457, 18.602663040161133, 0.0, 0.02156693860888481, 0.10252442955970764, 0.02753995731472969, 0.02369154989719391, 0.07460892200469971, 2.0662937458837405e-06, 0.0004174874338787049, 0.00032542142434976995, 0.032252803444862366, 0.0374625027179718, 0.11490105092525482, 1.616198005649494e-06, 0.00044744121260009706, 0.00042734332964755595, 0.01540359016507864, 0.028001723811030388, 0.0794990286231041, 1.4138538517727284e-06, 0.0003636913315858692, 0.00019660843827296048], "mean": [-0.001298947143368423, 0.0020580627024173737, 0.006123961880803108, -0.00010375529382145032, -9.071314707398415e-06, -2.0863351892330684e-05, 0.0001429108961019665, 0.0010560692753642797, 0.003181785810738802, -5.707730815629475e-05, 1.4237878531275783e-05, -2.2528909084940096e-06, -0.0005364796961657703, 0.0015208364930003881, 0.004488425794988871, -9.737099753692746e-05, 5.971076461719349e-06, -1.380539561068872e-05, -0.00010871403355849907, 0.00036168828955851495, 0.0010718691628426313, -1.7486923752585426e-05, -2.1178400402277475e-06, -8.937296058775246e-08, 0.00044109910959377885, 0.00021129036031197757, 0.0006366000161506236, -1.2849590348196216e-05, -1.1556445542737492e-06, 8.820010407362133e-06, 0.8207063674926758, 1.3394343852996826, 1.6734529733657837, -0.03597056120634079, 0.003683763323351741, 0.016719019040465355, -0.41159558296203613, 2.2614266872406006, 3.8394649028778076, -0.07963624596595764, -0.002597567392513156, -0.006635959260165691, 0.0011667207581922412, 0.0029988018795847893, 0.008809923194348812, -0.00014848462888039649, 4.299540523788892e-05, 3.7078227705933386e-06, 0.0015363880665972829, 0.006414470728486776, 0.018923548981547356, -0.00029213179368525743, 4.858715328737162e-05, 1.0120363185706083e-05, -0.001056790933944285, 0.003760633058845997, 0.010836278088390827, -0.00023249356308951974, 6.242447852855548e-06, -2.5423336410312913e-05], "std": [0.002500050701200962, 0.0028474547434598207, 0.00843637902289629, 0.00015733375039417297, 2.7504513127496466e-05, 4.3256910430500284e-05, 0.0011828781571239233, 0.002339220605790615, 0.007104827556759119, 0.000128991887322627, 3.65914856956806e-05, 1.9558423446142115e-05, 0.0017288062954321504, 0.0036257354076951742, 0.01060513686388731, 0.0002315041347173974, 1.6796340787550434e-05, 4.130359957343899e-05, 0.002676796168088913, 0.0012797437375411391, 0.0036116738338023424, 5.657441579387523e-05, 1.0658070095814764e-05, 3.369181285961531e-05, 0.00356500968337059, 0.0010512354783713818, 0.0028264399152249098, 5.628478538710624e-05, 3.723374675246305e-06, 6.143430800875649e-05, 1.7689188718795776, 2.1557886600494385, 2.43646240234375, 0.0529937706887722, 0.008795574307441711, 0.036953989416360855, 1.7912169694900513, 3.2290711402893066, 5.480288028717041, 0.11073079705238342, 0.0061559476889669895, 0.03366757929325104, 0.0026095937937498093, 0.004149742424488068, 0.012359216809272766, 0.00020289958047214895, 6.920725718373433e-05, 2.594927718746476e-05, 0.004632305819541216, 0.006179706659168005, 0.018474437296390533, 0.0002983691229019314, 8.781588985584676e-05, 5.6654844229342416e-05, 0.0019384509650990367, 0.004405589308589697, 0.012709157541394234, 0.00027407598099671304, 3.2466588891111314e-05, 3.685749106807634e-05], "count": [2594]}, "timestamp": {"min": [0.0], "max": [86.43333333333334], "mean": [43.21666666666666], "std": [24.9607747832029], "count": [2594]}, "frame_index": {"min": [0], "max": [2593], "mean": [1296.5], "std": [748.823243496087], "count": [2594]}, "episode_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [2594]}, "index": {"min": [45392], "max": [47985], "mean": [46688.5], "std": [748.823243496087], "count": [2594]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2594]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5389511585235596]], [[0.5385971665382385]], [[0.5405262112617493]]], "std": [[[0.3014593720436096]], [[0.3015682101249695]], [[0.30244797468185425]]], "count": [2594]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24924875795841217]], [[0.2491161972284317]], [[0.24857781827449799]]], "std": [[[0.1575557440519333]], [[0.15829622745513916]], [[0.1576038897037506]]], "count": [2594]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.18379932641983032]], [[0.1834743469953537]], [[0.18393513560295105]]], "std": [[[0.12489846348762512]], [[0.1245822161436081]], [[0.12836264073848724]]], "count": [2594]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5409789085388184]], [[0.5408948659896851]], [[0.5425248742103577]]], "std": [[[0.30174699425697327]], [[0.3019316494464874]], [[0.30329078435897827]]], "count": [2594]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6901960968971252]], [[0.6901960968971252]], [[0.6901960968971252]]], "mean": [[[0.001413225312717259]], [[0.001413225312717259]], [[0.001413225312717259]]], "std": [[[0.022842561826109886]], [[0.022842561826109886]], [[0.022842561826109886]]], "count": [2594]}, "observation.images.tactile_raw": {"min": [[[0.027450980618596077]], [[0.027450980618596077]], [[0.027450980618596077]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4679226279258728]], [[0.4679226279258728]], [[0.4679226279258728]]], "std": [[[0.23499180376529694]], [[0.23499180376529694]], [[0.23499180376529694]]], "count": [2594]}}}
+{"episode_index": 29, "stats": {"observation.state": {"min": [1.0434154272079468, -0.77999347448349, -0.14753659069538116, 0.9106327295303345, -0.10521179437637329, -0.7699949741363525, 0.3288048207759857, 0.006296051666140556, -0.260701060295105, 0.004238857887685299, 9.754314669407904e-05, 0.003077605739235878, -0.07876130938529968, -0.07008430361747742, 0.0034665612038224936, 0.0008509285398758948, -0.17437447607517242, -0.06871054321527481, 0.0034598244819790125, 0.0007853019633330405, -0.16766145825386047, -0.03917986527085304, 0.003059877548366785, 0.0008243231568485498, 0.013020789250731468, -0.14369253814220428, -0.038356829434633255, 0.0034952808637171984, 0.0008487114100717008, 1.023455262184143, -0.8515986800193787, -0.23241150379180908, 0.8644240498542786, -1.1967207193374634, -0.7694497108459473, -0.25250691175460815, 0.00720286974683404, -0.27102726697921753, 0.003044477431103587, -0.25230392813682556, 0.003450960386544466, 0.004991653375327587, -0.11632700264453888, 0.002957408782094717, 0.0006810975610278547, 0.0037957464810460806, -0.03821210563182831, 0.002626601606607437, 0.0008713259594514966, -0.0021315349731594324, -0.03521313518285751, 0.0035062720999121666, 0.0008380693034268916, 0.005300365388393402, -0.05729582905769348, -0.03732062876224518, 0.0034676247742027044, 0.000863787776324898, 0.5612452030181885, -1.1069588661193848, 0.5441796779632568, -0.035473305732011795, -0.06049636751413345, -9.58738019107841e-05, -0.8729309439659119], "max": [1.2219873666763306, -0.5670627355575562, -9.347694685857277e-06, 1.5699594020843506, 9.108010999625549e-06, 0.19521726667881012, 0.6981815099716187, 1.2197086811065674, -0.001019198796711862, 0.45710572600364685, 0.31456324458122253, 0.4796278178691864, 0.7823126316070557, 0.09320124983787537, 0.2376829832792282, 0.2997760474681854, 0.5384193062782288, 0.14723439514636993, 0.17402087152004242, 0.022434093058109283, 0.1716666966676712, 0.11960096657276154, 0.27424904704093933, 0.3228646218776703, 0.013558103702962399, 0.3286494016647339, 0.05044297128915787, 0.7154788374900818, 0.6189137101173401, 1.316632628440857, -0.21723498404026031, -0.0002843856636900455, 1.5692960023880005, 0.08569727838039398, 0.04735446721315384, 0.5199075937271118, 1.5646793842315674, 0.0003877330163959414, 0.8679012656211853, 0.31608113646507263, 0.40688252449035645, 1.1281472444534302, 0.24773859977722168, 0.5353807210922241, 1.1498576402664185, 1.4738188982009888, 0.25007227063179016, 1.655674934387207, 1.3082270622253418, 1.4687086343765259, 0.21836842596530914, 1.6548222303390503, 1.3082261085510254, 0.0615139938890934, 1.468650460243225, 0.309347540140152, 1.6553195714950562, 1.3081765174865723, 0.5626833438873291, -1.1062877178192139, 0.6971942782402039, 0.0, 0.010354369878768921, 0.2286590039730072, -0.5997864603996277], "mean": [1.162466287612915, -0.6144288182258606, -0.13742437958717346, 0.9536809325218201, -0.100771963596344, 0.011854912154376507, 0.4465188682079315, 1.1686687469482422, -0.23384501039981842, 0.34640467166900635, 0.2803058326244354, 0.4703378677368164, 0.5180544853210449, 0.011003206484019756, 0.11028639227151871, 0.28343531489372253, 0.23773004114627838, 0.039672791957855225, 0.050717730075120926, 0.00435802573338151, -0.01693677343428135, 0.0142397191375494, 0.06842806190252304, 0.2999671697616577, 0.013331173919141293, -0.031423818320035934, -0.020526908338069916, 0.10894952714443207, 0.09340810030698776, 1.1130574941635132, -0.5316675305366516, -0.2226390242576599, 1.1913479566574097, -1.1266661882400513, -0.34678545594215393, 0.1735379993915558, 1.3200591802597046, -0.1618291735649109, 0.5081419944763184, -0.013489333912730217, 0.1067308560013771, 0.8841584324836731, 0.18335536122322083, 0.061581458896398544, 0.562220573425293, 1.3979741334915161, 0.18143770098686218, 1.5681960582733154, 1.1812407970428467, 1.388812780380249, 0.15806610882282257, 1.5728528499603271, 1.1874768733978271, 0.057870928198099136, 1.3910342454910278, 0.2619328796863556, 1.582723617553711, 1.2503890991210938, 0.5615447759628296, -1.1068572998046875, 0.6680846214294434, -0.026890523731708527, -0.011603913269937038, 0.18372642993927002, -0.8643773198127747], "std": [0.036357127130031586, 0.025477519258856773, 0.017109064385294914, 0.0755961611866951, 0.012035602703690529, 0.19140833616256714, 0.08480173349380493, 0.1455763727426529, 0.03886539489030838, 0.10735220462083817, 0.037496417760849, 0.06115429475903511, 0.2483563870191574, 0.0463290698826313, 0.058805063366889954, 0.03800129517912865, 0.18181869387626648, 0.056161053478717804, 0.06466949731111526, 0.005507634487003088, 0.10093571990728378, 0.05408284068107605, 0.0911274254322052, 0.04487336799502373, 8.749300468480214e-05, 0.14776615798473358, 0.027942471206188202, 0.19577713310718536, 0.16884160041809082, 0.04886111244559288, 0.2027122676372528, 0.025447603315114975, 0.2085835486650467, 0.22323700785636902, 0.14379391074180603, 0.16872233152389526, 0.17678001523017883, 0.048232484608888626, 0.17485402524471283, 0.11438547819852829, 0.09856525808572769, 0.1838645488023758, 0.06085297465324402, 0.07159627228975296, 0.25313711166381836, 0.29916003346443176, 0.04434133321046829, 0.36051350831985474, 0.27476564049720764, 0.30955737829208374, 0.04175794497132301, 0.3521195650100708, 0.27335160970687866, 0.01197933591902256, 0.3215353488922119, 0.0647629052400589, 0.32315292954444885, 0.25506046414375305, 0.00013405675417743623, 5.087007593829185e-05, 0.02493714541196823, 0.0071701789274811745, 0.012468802742660046, 0.03660771623253822, 0.04190710559487343], "count": [2314]}, "observation.state.joint_torque": {"min": [-44.91299819946289, -7.249499797821045, -19.37700080871582, -6.385000228881836, -1.1823999881744385, -0.6240000128746033, 0.5296000242233276, -1.8338797092437744, -0.7386459708213806, -0.4970758259296417, -0.3280700445175171, -0.10957689583301544, -1.5130751132965088, -0.4499887228012085, -0.1859486699104309, -0.03424813970923424, -0.3741910457611084, -0.33965033292770386, -0.20587176084518433, -0.03781566023826599, -0.5305836796760559, -0.5267458558082581, -0.3519743084907532, -0.04709119349718094, -0.001759204315021634, -0.43943461775779724, -0.44902926683425903, -0.3918204605579376, -0.06849627941846848, -0.14399999380111694, -7.736999988555908, -8.875, -9.696000099182129, -3.4223999977111816, -6.156799793243408, -3.0320000648498535, -1.4110685586929321, -0.7883135676383972, -0.8835522532463074, -0.7617686986923218, -0.16602559387683868, -0.7541388869285583, -0.9431533813476562, -0.28556403517723083, -0.21333740651607513, -0.3674747943878174, -0.4039344787597656, -0.06973075866699219, -0.09917692095041275, -0.46725907921791077, -0.3099069595336914, -0.12617947161197662, -0.05993425101041794, -0.14073635637760162, -0.23027141392230988, -0.43655624985694885, -0.10791664570569992, -0.09632289409637451, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-11.118000030517578, 14.54699993133545, -2.6619999408721924, 4.910999774932861, 1.8456000089645386, 1.5088000297546387, 3.4223999977111816, 0.559078574180603, 0.6571401953697205, 0.6685670018196106, 0.6474412679672241, 0.11953844130039215, 0.6821790933609009, 0.2724878191947937, 0.11621791869401932, 0.02354559674859047, 0.5440162420272827, 0.2696094512939453, 0.12949997186660767, 0.01855107769370079, 0.4125696122646332, 0.4144885540008545, 0.12451920658349991, 0.01855107769370079, 0.0039582098834216595, 0.393380343914032, 0.4020155370235443, 0.1942499577999115, 0.052085720002651215, 48.7859992980957, 10.945500373840332, 18.104000091552734, 3.453000068664551, 0.4487999975681305, 2.462399959564209, 4.821599960327148, 2.195561408996582, 3.577338695526123, 1.760891079902649, 1.9497798681259155, 0.8185062408447266, 2.144402503967285, 2.144402503967285, 1.0592433214187622, 0.21405088901519775, 1.529386043548584, 0.29935285449028015, 1.0177370309829712, 0.21333740651607513, 1.7260761260986328, 0.27632570266723633, 0.07139100879430771, 0.10916595906019211, 0.1262229084968567, 1.9716989994049072, 0.3828262388706207, 0.151083305478096, 0.14484110474586487, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.487926483154297, 3.2109527587890625, -11.149168968200684, -1.8645280599594116, -0.025365138426423073, 0.04821746051311493, 2.039994955062866, 0.016164060682058334, -0.020613066852092743, 0.08305275440216064, 0.002171747386455536, 9.82950150500983e-05, 0.05521233379840851, 0.01958605833351612, 0.00825751293450594, 0.0028000525198876858, 0.05520239099860191, -0.02304665558040142, 0.004558905493468046, 0.0003838864213321358, 0.03738764673471451, 0.030235115438699722, 0.004741860553622246, 0.0025647920556366444, -3.896244379575364e-05, 0.050776656717061996, 0.015987837687134743, 0.008968536742031574, -0.0004911881987936795, 24.022907257080078, 2.0938990116119385, 9.741279602050781, -3.729051113128662, -0.4098018705844879, 1.061795711517334, -0.9545451998710632, 0.03438630700111389, 0.24839089810848236, 0.14272229373455048, 0.08850812166929245, 0.014715578407049179, 0.2976382374763489, 0.00853065587580204, 0.15296684205532074, 0.028740279376506805, 0.006245991215109825, -0.019394947215914726, 0.0013151479652151465, 0.0026545098517090082, 0.007922453805804253, -0.008735914714634418, -0.00013847489026375115, 0.001600909512490034, 0.00013228382158558816, 0.02376399375498295, -0.022458670660853386, 0.0004369483212940395, 0.001291027874685824, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.2593451738357544, 1.147926926612854, 0.6929957270622253, 0.7126298546791077, 0.3074331283569336, 0.317998468875885, 0.25763392448425293, 0.11280225217342377, 0.0999099612236023, 0.11506753414869308, 0.07511859387159348, 0.008999657817184925, 0.072255440056324, 0.044583436101675034, 0.01770375296473503, 0.005411515478044748, 0.07396941632032394, 0.048941198736429214, 0.014267990365624428, 0.006435936316847801, 0.08594813942909241, 0.10579384118318558, 0.020418992266058922, 0.006957681383937597, 0.00033076113322749734, 0.08536801487207413, 0.07576737552881241, 0.026919502764940262, 0.014172793366014957, 4.578159332275391, 3.1775686740875244, 2.903130292892456, 1.361625075340271, 0.4569201171398163, 1.0908317565917969, 0.9072951674461365, 0.4825599789619446, 0.6460950374603271, 0.3084090054035187, 0.3572440445423126, 0.08482538163661957, 0.643162727355957, 0.34317144751548767, 0.33726468682289124, 0.07806022465229034, 0.06585643440485, 0.0686570331454277, 0.02898297645151615, 0.012313003651797771, 0.06894517689943314, 0.06827362626791, 0.007548874709755182, 0.011011049151420593, 0.013350450433790684, 0.07000920176506042, 0.09535689651966095, 0.01330932043492794, 0.006132966373115778, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2314]}, "observation.state.tcp": {"min": [0.36178410053253174, 0.19202135503292084, 0.9123390913009644, -1.2088855504989624, 1.162475347518921, -1.5892021656036377, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3217661678791046, -0.24396483600139618, 0.8971450328826904, -0.3856598138809204, 1.2181508541107178, 0.5189429521560669, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4903579354286194, 0.27201908826828003, 1.0518056154251099, -0.8343623280525208, 1.8390733003616333, -1.2080878019332886, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49944108724594116, -0.02176145277917385, 1.05180025100708, 1.2477830648422241, 2.243830442428589, 1.4536882638931274, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4723595678806305, 0.24785393476486206, 0.9476613998413086, -1.1087205410003662, 1.631726622581482, -1.4466426372528076, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.39125165343284607, -0.13236381113529205, 0.9269155263900757, -0.018606770783662796, 1.9465142488479614, 0.9341596961021423, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.017939746379852295, 0.01439118292182684, 0.023493999615311623, 0.06615258753299713, 0.16034238040447235, 0.1235458254814148, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03919074684381485, 0.06970463693141937, 0.02615191787481308, 0.2552681267261505, 0.1540953665971756, 0.18916384875774384, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2314]}, "action": {"min": [1.0416032075881958, -0.7799999713897705, -0.14762872457504272, 0.9106041193008423, -0.10517516732215881, -0.7699999809265137, 0.3286987543106079, 0.0, -0.26114946603775024, 0.0, 0.0, 0.0, -0.11605110764503479, -0.07611281424760818, 0.0, 0.0, -0.1745329201221466, -0.06748444586992264, 0.0, 0.0, -0.1745329201221466, -0.11513382941484451, 0.0, 0.0, 0.0, -0.15098746120929718, -0.2144591212272644, 0.0, 0.0, 1.0234732627868652, -0.8516791462898254, -0.23240163922309875, 0.8642867207527161, -1.196714997291565, -0.7671080827713013, -0.25311070680618286, 0.0, -0.2690986096858978, 0.0, -0.2542462944984436, -0.17376568913459778, 0.0, -0.11666769534349442, 0.0, 0.0, 0.0, -0.042269714176654816, 0.0, 0.0, 0.0, -0.04188615828752518, 0.0, 0.0, 0.0, -0.05660405382514, -0.09653431922197342, 0.0, 0.0, 0.5612459182739258, -1.1069588661193848, 0.5442397594451904, -0.03572339192032814, -0.06138700619339943, 0.0, -0.8726646304130554], "max": [1.2219781875610352, -0.5620591640472412, 0.0, 1.5700000524520874, 0.0, 0.1952001303434372, 0.7361149191856384, 1.2255547046661377, 0.0, 0.46506404876708984, 0.3213796019554138, 0.4822549521923065, 0.7915347218513489, 0.09166615456342697, 0.2471114993095398, 0.3018682301044464, 0.5445899367332458, 0.14382165670394897, 0.17968551814556122, 0.02492694742977619, 0.174664705991745, 0.12177031487226486, 0.281881183385849, 0.32787904143333435, 0.03375716134905815, 0.3375716209411621, 0.049097947776317596, 0.7240005731582642, 0.6203417181968689, 1.3167909383773804, -0.2171766459941864, -0.0014283873606473207, 1.5676223039627075, 0.0857713520526886, 0.047947220504283905, 0.5191614627838135, 1.571212887763977, 0.0, 0.8684697151184082, 0.3490658402442932, 0.40962645411491394, 1.159497618675232, 0.2814961075782776, 0.5386384725570679, 1.1491913795471191, 1.5707963705062866, 0.25676071643829346, 1.7453292608261108, 1.385759711265564, 1.5707963705062866, 0.22809451818466187, 1.7453292608261108, 1.3962633609771729, 0.07695023715496063, 1.5707963705062866, 0.32799476385116577, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.1068657636642456, 0.6974965333938599, 0.0, 0.01119802426546812, 0.22911085188388824, -0.6000000238418579], "mean": [1.162418007850647, -0.6143649220466614, -0.1374262124300003, 0.9535229802131653, -0.10077302902936935, 0.011626685038208961, 0.44673535227775574, 1.1760560274124146, -0.23365779221057892, 0.3515166640281677, 0.28123778104782104, 0.4726666808128357, 0.5238863229751587, 0.011182449758052826, 0.11292538046836853, 0.28654810786247253, 0.2440677434206009, 0.03993953764438629, 0.05143357813358307, 0.003763501299545169, -0.013818139210343361, 0.011220799759030342, 0.0687035396695137, 0.30317091941833496, 0.00605290150269866, -0.029554689303040504, -0.10292155295610428, 0.1104414239525795, 0.09430204331874847, 1.1130626201629639, -0.5318105816841125, -0.22265182435512543, 1.191327691078186, -1.1270991563796997, -0.34681975841522217, 0.17361250519752502, 1.3200488090515137, -0.16105347871780396, 0.5072661638259888, -0.012703708373010159, 0.07644277811050415, 0.8880379796028137, 0.18481983244419098, 0.06279560923576355, 0.5733723044395447, 1.4963321685791016, 0.17992906272411346, 1.6548898220062256, 1.1846474409103394, 1.4444842338562012, 0.1576034128665924, 1.66025972366333, 1.195261001586914, 0.0689900815486908, 1.4906432628631592, 0.2611939013004303, 1.6679637432098389, 1.3343391418457031, 0.5615422129631042, -1.1069391965866089, 0.6681304574012756, -0.026938237249851227, -0.01163069624453783, 0.18376459181308746, -0.8643258213996887], "std": [0.03628666326403618, 0.025457032024860382, 0.017094116657972336, 0.07542707771062851, 0.012031002901494503, 0.1917281150817871, 0.08530677855014801, 0.15828746557235718, 0.03997112065553665, 0.11083650588989258, 0.041305217891931534, 0.06731530278921127, 0.2527288794517517, 0.04559747874736786, 0.06101740524172783, 0.04136219993233681, 0.18454670906066895, 0.05616563931107521, 0.06717032194137573, 0.007047912105917931, 0.10198332369327545, 0.06194377318024635, 0.09417728334665298, 0.04842185974121094, 0.010893025435507298, 0.15179462730884552, 0.08048323541879654, 0.19805513322353363, 0.16994911432266235, 0.048709411174058914, 0.2027394324541092, 0.02539854124188423, 0.20864710211753845, 0.22192741930484772, 0.1439506858587265, 0.1687474250793457, 0.18905286490917206, 0.04955264553427696, 0.17797771096229553, 0.11829174309968948, 0.1386813372373581, 0.18785956501960754, 0.0616893544793129, 0.07203387469053268, 0.25906217098236084, 0.32281777262687683, 0.04399929195642471, 0.3793608844280243, 0.2743908166885376, 0.3259906768798828, 0.0422392375767231, 0.37263891100883484, 0.27680590748786926, 0.015933966264128685, 0.3451210856437683, 0.06656164675951004, 0.3451535403728485, 0.27612701058387756, 0.0001297376147704199, 1.9768760466831736e-05, 0.025041203945875168, 0.007190370000898838, 0.012601378373801708, 0.03670893609523773, 0.04205496609210968], "count": [2314]}, "observation.state.tcp_pose": {"min": [0.36178410053253174, 0.19202135503292084, 0.9123390913009644, -1.2088855504989624, 1.162475347518921, -1.5892021656036377, 0.3217661678791046, -0.24396483600139618, 0.8971450328826904, -0.3856598138809204, 1.2181508541107178, 0.5189429521560669], "max": [0.4903579354286194, 0.27201908826828003, 1.0518056154251099, -0.8343623280525208, 1.8390733003616333, -1.2080878019332886, 0.49944108724594116, -0.02176145277917385, 1.05180025100708, 1.2477830648422241, 2.243830442428589, 1.4536882638931274], "mean": [0.4723595678806305, 0.24785393476486206, 0.9476613998413086, -1.1087205410003662, 1.631726622581482, -1.4466426372528076, 0.39125165343284607, -0.13236381113529205, 0.9269155263900757, -0.018606770783662796, 1.9465142488479614, 0.9341596961021423], "std": [0.017939746379852295, 0.01439118292182684, 0.023493999615311623, 0.06615258753299713, 0.16034238040447235, 0.1235458254814148, 0.03919074684381485, 0.06970463693141937, 0.02615191787481308, 0.2552681267261505, 0.1540953665971756, 0.18916384875774384], "count": [2314]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.18893906474113464, 0.9142103791236877, -1.208855390548706, 1.136480450630188, -1.5916475057601929, 0.3217713534832001, -0.24472227692604065, 0.8972148299217224, -0.3867092728614807, 1.2200456857681274, 0.5183272957801819], "max": [0.49010169506073, 0.271720826625824, 1.0518032312393188, -0.806010365486145, 1.8396449089050293, -1.2266253232955933, 0.4996799826622009, -0.02110501378774643, 1.0515412092208862, 1.253737449645996, 2.244312047958374, 1.4537838697433472], "mean": [0.4723532497882843, 0.24787281453609467, 0.9476344585418701, -1.108548641204834, 1.6314713954925537, -1.4464689493179321, 0.39121007919311523, -0.13244134187698364, 0.926913321018219, -0.01903514377772808, 1.9464973211288452, 0.9339102506637573], "std": [0.017885103821754456, 0.01445012353360653, 0.023121370002627373, 0.06609781831502914, 0.1604154258966446, 0.12375874817371368, 0.03919665887951851, 0.06978946179151535, 0.026018992066383362, 0.25485658645629883, 0.15352819859981537, 0.1888854205608368], "count": [2314]}, "subtask_index": {"min": [64], "max": [932], "mean": [910.414433880726], "std": [37.516263012899635], "count": [2314]}, "observation.tactile": {"min": [-0.029414912685751915, -3.5545053833629936e-05, -8.201044693123549e-05, -0.0010694069787859917, -0.00021565101633314043, -0.0005037473747506738, -0.010836448520421982, -2.598473110992927e-05, -5.450937896966934e-05, -0.0018933953251689672, -1.7917682271217927e-05, -0.0002539047854952514, -0.01383625902235508, -3.8349247915903106e-05, -8.545188757125288e-05, -0.0010825227946043015, -1.0213709174422547e-05, -0.0002953069924842566, -1.2269521951675415, -3.135025326628238e-05, -6.900788866914809e-05, -0.005054720211774111, -0.0013501845533028245, -0.016183016821742058, -0.0045736972242593765, -5.356730616767891e-05, -0.0001223292201757431, -0.0010810286039486527, -6.372408097377047e-05, -6.195418245624751e-05, -0.48752883076667786, -4.5118013076717034e-05, -0.00010005191870732233, -0.1423751264810562, -0.00500490004196763, -0.011889220215380192, -6.182234764099121, 0.0, 0.0, -0.33224648237228394, -0.032760415226221085, -0.12556570768356323, -0.006482481025159359, -4.906357207801193e-05, -0.00010934868623735383, -0.0013032584683969617, -4.040468775201589e-05, -0.0001554742339067161, -0.01811043918132782, -4.216730667394586e-05, -9.105307253776118e-05, -0.0020130102057009935, -9.497623250354081e-05, -0.00041114952182397246, -0.0071069844998419285, -4.31076914537698e-05, -9.59994358709082e-05, -0.0015511359088122845, -6.009787830407731e-05, -0.0001669929624767974], "max": [0.0008430345915257931, 0.019688855856657028, 0.05738560110330582, 1.576239128553425e-06, 0.0001295115944230929, 5.919663635722827e-06, 0.00923441257327795, 0.030404165387153625, 0.08801737427711487, 1.0271521659888094e-06, 0.0002449586463626474, 7.527049456257373e-05, 0.003266293788328767, 0.01962403953075409, 0.05642152205109596, 1.6076219253591262e-06, 0.00011330696725053713, 3.320870018796995e-05, 0.014809372834861279, 0.12492617964744568, 0.3702426552772522, 1.2393011274980381e-06, 0.000313646683935076, 0.00016019826580304652, 0.25211143493652344, 0.043109454214572906, 0.06517099589109421, 2.3688264718657592e-06, 0.00019119071657769382, 0.004155239090323448, 5.963930606842041, 5.507032871246338, 7.651747703552246, 1.8286009435541928e-06, 0.026561910286545753, 0.13438156247138977, 6.805926322937012, 13.947978973388672, 17.14760971069336, 0.0, 0.025932181626558304, 0.12342175096273422, 0.020374929532408714, 0.026165643706917763, 0.07799047231674194, 1.996232867895742e-06, 0.00044394415454007685, 0.00023796026653144509, 0.04164892062544823, 0.031848520040512085, 0.10441739112138748, 1.6881072042451706e-06, 0.0005177214043214917, 0.0005782337975688279, 0.005000966601073742, 0.02308329939842224, 0.06630711257457733, 1.8364540892434889e-06, 0.00010773430403787643, 0.00010806064528878778], "mean": [-0.00021743186516687274, 0.0007279712590388954, 0.002156791277229786, -3.905699122697115e-05, -8.921531957639672e-07, -3.101697302554385e-06, -0.000934689654968679, 0.003516547614708543, 0.010254289023578167, -0.00020517451048363, 2.049840441031847e-05, -2.5432616894249804e-05, -0.0010940908687189221, 0.0029016186017543077, 0.008547483943402767, -0.0001567890722071752, 1.5243005691445433e-05, -2.496364504622761e-05, -0.011518086306750774, 0.002970553934574127, 0.008493348956108093, -0.00013722020958084613, -1.0835473403858487e-05, -0.00015147433441597968, 0.00031683375709690154, 0.0010207922896370292, 0.002968515967950225, -6.032296005287208e-05, 2.5135861960734474e-06, 4.990375146007864e-06, 0.3367808759212494, 0.6516299843788147, 0.834952712059021, -0.01669054850935936, 0.0012321703834459186, 0.006698054261505604, -0.1711503267288208, 1.2847983837127686, 2.3025410175323486, -0.04750565439462662, -0.001660464913584292, -0.0026401549112051725, 0.00035253469832241535, 0.005780263338238001, 0.016946984454989433, -0.00033010082552209496, 5.7693381677381694e-05, -1.7586775356903672e-05, -0.001313253422267735, 0.007391022983938456, 0.021769791841506958, -0.00036823528353124857, 2.0888128346996382e-05, -3.586930324672721e-05, -0.0004933687741868198, 0.007140260189771652, 0.02052786387503147, -0.00046568273683078587, 2.441520700813271e-05, -1.962180613190867e-05], "std": [0.0019458720926195383, 0.001852558460086584, 0.00544323306530714, 9.579135075910017e-05, 2.1094998373882845e-05, 2.996815601363778e-05, 0.0018800935940816998, 0.005073209758847952, 0.014727110974490643, 0.00029792916029691696, 2.962572398246266e-05, 4.319228537497111e-05, 0.0020491895265877247, 0.004079401958733797, 0.011982988566160202, 0.0002239650784758851, 2.0504417989286594e-05, 4.3272044422337785e-05, 0.09019076824188232, 0.009748388081789017, 0.026770854368805885, 0.0003733219054993242, 7.911791908554733e-05, 0.0011816518381237984, 0.005736328661441803, 0.0022743167355656624, 0.006177552044391632, 0.00012591469567269087, 1.0963976819766685e-05, 9.529649105388671e-05, 0.9393410086631775, 1.3671437501907349, 1.7482962608337402, 0.0335346981883049, 0.004535704385489225, 0.020323269069194794, 1.6085951328277588, 2.4695262908935547, 4.288985252380371, 0.08717075735330582, 0.007302486337721348, 0.02989332191646099, 0.002318884013220668, 0.004543728660792112, 0.01330599281936884, 0.0002484516880940646, 6.67317581246607e-05, 2.7660917112370953e-05, 0.004621808882802725, 0.006124268285930157, 0.018122762441635132, 0.00033520342549309134, 6.33443269180134e-05, 8.181516750482842e-05, 0.0014247145736590028, 0.003991967532783747, 0.011401701718568802, 0.00026271052774973214, 2.51706824201392e-05, 2.7879401386599056e-05], "count": [2314]}, "timestamp": {"min": [0.0], "max": [77.1], "mean": [38.55], "std": [22.266473302553624], "count": [2314]}, "frame_index": {"min": [0], "max": [2313], "mean": [1156.5], "std": [667.9941990766088], "count": [2314]}, "episode_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [2314]}, "index": {"min": [47986], "max": [50299], "mean": [49142.5], "std": [667.9941990766088], "count": [2314]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2314]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5388808846473694]], [[0.5386150479316711]], [[0.540380597114563]]], "std": [[[0.3002292513847351]], [[0.3003985285758972]], [[0.3012791872024536]]], "count": [2314]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24615615606307983]], [[0.246375173330307]], [[0.2458549588918686]]], "std": [[[0.15700408816337585]], [[0.15759702026844025]], [[0.1570940762758255]]], "count": [2314]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.18560534715652466]], [[0.1872721016407013]], [[0.1854856312274933]]], "std": [[[0.12475213408470154]], [[0.1254836767911911]], [[0.1279490739107132]]], "count": [2314]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5415210723876953]], [[0.541643500328064]], [[0.5431234836578369]]], "std": [[[0.30025553703308105]], [[0.30055633187294006]], [[0.3019693195819855]]], "count": [2314]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6745098233222961]], [[0.6745098233222961]], [[0.6745098233222961]]], "mean": [[[0.0007831522962078452]], [[0.0007831522962078452]], [[0.0007831522962078452]]], "std": [[[0.01661848835647106]], [[0.01661848835647106]], [[0.01661848835647106]]], "count": [2314]}, "observation.images.tactile_raw": {"min": [[[0.0235294122248888]], [[0.0235294122248888]], [[0.0235294122248888]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4680115282535553]], [[0.4680115282535553]], [[0.4680115282535553]]], "std": [[[0.2350119650363922]], [[0.2350119650363922]], [[0.2350119650363922]]], "count": [2314]}}}
+{"episode_index": 30, "stats": {"observation.state": {"min": [1.0256654024124146, -0.7800194621086121, -0.18920910358428955, 0.9101392030715942, -0.07951821386814117, -0.7700412273406982, 0.42227181792259216, 0.0061665065586566925, -0.25155627727508545, -0.0013934463495388627, 0.005435701459646225, 0.003088951576501131, -0.06790027022361755, -0.06295596063137054, 0.0034211771562695503, 0.0008611272787675261, -0.16878008842468262, -0.04912882670760155, 0.0034389053471386433, 0.0008212191751226783, -0.12138833850622177, -0.03749038651585579, 0.0030903699807822704, 0.0008123507723212242, 0.013025069609284401, -0.14170894026756287, -0.040497444570064545, 0.003524355124682188, 0.0008411731687374413, 1.0501500368118286, -0.7798161506652832, -0.23070567846298218, 0.8587765097618103, -1.5802793502807617, -0.7695944309234619, -0.1584164798259735, 0.0070660971105098724, -0.22659341990947723, 0.0030611450783908367, -0.31543299555778503, 0.003266942221671343, 0.005120197776705027, -0.1019250899553299, 0.001179630751721561, 0.0007790939998812973, 0.003703263122588396, -0.03291919827461243, 0.0026695039123296738, 0.0008411731687374413, -0.0007602281984873116, -0.03254411742091179, 0.0035268368665128946, 0.0008686654036864638, 0.005616118665784597, -0.05540420860052109, -0.03699779510498047, 0.0034690429456532, 0.0008864023839123547, 0.561053454875946, -1.107150673866272, 0.5444673299789429, -0.04640292003750801, -0.05282646417617798, 0.0, -0.8729309439659119], "max": [1.2520304918289185, -0.568071186542511, 7.070692390698241e-06, 1.5700037479400635, 3.631220170063898e-05, -0.0017705493373796344, 0.6981670260429382, 1.2228549718856812, 0.00011165846808580682, 0.1634538322687149, 0.3147755563259125, 0.4796172082424164, 0.6583386659622192, 0.09486546367406845, 0.13366451859474182, 0.2951444983482361, 0.5207642912864685, 0.1278744488954544, 0.14131173491477966, 0.012986970134079456, 0.23271436989307404, 0.11579835414886475, 0.22769246995449066, 0.3275396227836609, 0.013614832423627377, 0.3775412440299988, 0.050639718770980835, 0.7590088844299316, 0.6559018492698669, 1.333896517753601, -0.13199812173843384, -0.000336517026880756, 1.5695624351501465, 0.14640767872333527, 0.09325620532035828, 0.5857481956481934, 1.5517299175262451, 0.0014953030040487647, 0.8213628530502319, 0.3153221905231476, 0.46792373061180115, 1.086654543876648, 0.268525093793869, 0.2246205359697342, 0.9090763330459595, 1.474348783493042, 0.2517002522945404, 1.6556884050369263, 1.3082629442214966, 1.461558222770691, 0.23960402607917786, 1.6548463106155396, 1.3082358837127686, 0.06139518320560455, 1.468641757965088, 0.3142278492450714, 1.6553022861480713, 1.3081587553024292, 0.5627791881561279, -1.106191873550415, 0.7165607810020447, 0.0, 0.04026699438691139, 0.2623107135295868, -0.5999782085418701], "mean": [1.1851670742034912, -0.7056583762168884, -0.16748817265033722, 0.9975150227546692, -0.07651863247156143, -0.16125459969043732, 0.5042011737823486, 1.1769222021102905, -0.21802370250225067, 0.1018005907535553, 0.2943320870399475, 0.46902036666870117, 0.46863698959350586, 0.03020450659096241, 0.06819132715463638, 0.2784191071987152, 0.31546667218208313, 0.05103395879268646, 0.04261854290962219, 0.002437795978039503, 0.07258173078298569, 0.02678563818335533, 0.06947460770606995, 0.3124951422214508, 0.01328875683248043, 0.06657737493515015, -0.01364699937403202, 0.18598921597003937, 0.1595948189496994, 1.1563796997070312, -0.4849897027015686, -0.2194450944662094, 1.2188973426818848, -1.247778058052063, -0.26795724034309387, 0.201315239071846, 1.2544329166412354, -0.12510327994823456, 0.4893633723258972, -0.08376375585794449, 0.12127970159053802, 0.8570932745933533, 0.15798354148864746, 0.051562704145908356, 0.5983036160469055, 1.3277735710144043, 0.17022648453712463, 1.5584481954574585, 1.1970295906066895, 1.0823196172714233, 0.14442282915115356, 1.5605003833770752, 1.2283649444580078, 0.05737554281949997, 1.3815913200378418, 0.22088979184627533, 1.5731432437896729, 1.2429054975509644, 0.5613675117492676, -1.1068531274795532, 0.6917083859443665, -0.028423283249139786, 0.016599293798208237, 0.22112055122852325, -0.8653143644332886], "std": [0.0418732687830925, 0.024767659604549408, 0.02500143088400364, 0.07562443614006042, 0.010126270353794098, 0.12371271848678589, 0.05236812308430672, 0.15605419874191284, 0.035501349717378616, 0.03393235802650452, 0.04141390323638916, 0.06540851294994354, 0.1462445706129074, 0.035526424646377563, 0.035198185592889786, 0.03929000720381737, 0.13702967762947083, 0.039664797484874725, 0.0554865263402462, 0.002664213767275214, 0.11041465401649475, 0.04564359039068222, 0.0650901347398758, 0.04432649165391922, 9.292960749007761e-05, 0.17680557072162628, 0.03315061703324318, 0.2956213057041168, 0.2546082139015198, 0.04485539346933365, 0.1755191534757614, 0.02678357996046543, 0.21137182414531708, 0.3024488687515259, 0.19102565944194794, 0.20663343369960785, 0.17732910811901093, 0.06089179590344429, 0.16573326289653778, 0.1135973185300827, 0.11735855787992477, 0.19207070767879486, 0.07258941233158112, 0.031975045800209045, 0.24163904786109924, 0.30516308546066284, 0.05323651060461998, 0.37947070598602295, 0.2957629859447479, 0.29550325870513916, 0.045676857233047485, 0.3761695325374603, 0.2970063090324402, 0.012722437269985676, 0.33994367718696594, 0.061272937804460526, 0.3448672294616699, 0.2718696594238281, 0.00017249680240638554, 7.446099334629253e-05, 0.026459982618689537, 0.007784353569149971, 0.01714162342250347, 0.042597465217113495, 0.0372997485101223], "count": [2068]}, "observation.state.joint_torque": {"min": [-47.39250183105469, -11.496000289916992, -17.6560001373291, -7.781000137329102, -0.376800000667572, -0.8087999820709229, 0.37279999256134033, -0.7641165256500244, -0.841801643371582, -0.39144718647003174, -0.4846489131450653, -0.11621791869401932, -0.40873175859451294, -0.2504201829433441, -0.11289741843938828, -0.03424813970923424, -0.27536624670028687, -0.32046106457710266, -0.06641025096178055, -0.03567514568567276, -0.3972181975841522, -0.513313353061676, -0.1411217600107193, -0.039956167340278625, -0.0030786076094955206, -0.36171799898147583, -0.4595833718776703, -0.3868396580219269, -0.07705831527709961, -1.1325000524520874, -8.512499809265137, -10.206000328063965, -9.602999687194824, -1.8336000442504883, -6.368800163269043, -2.9079999923706055, -1.7842121124267578, -0.6940724849700928, -0.4784354865550995, -0.7816517353057861, -0.10293588042259216, -1.0122348070144653, -1.0496538877487183, -0.9363844394683838, -0.2169049084186554, -0.49412408471107483, -0.8548826575279236, -0.776999831199646, -0.0956093966960907, -0.6697060465812683, -0.32813677191734314, -0.07471152395009995, -0.15483014285564423, -0.14205574989318848, -1.6147782802581787, -0.4125696122646332, -0.19923073053359985, -0.08205283433198929, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-18.24449920654297, 14.91450023651123, -5.285999774932861, 5.054999828338623, 1.8143999576568604, 1.2999999523162842, 3.214400053024292, 0.6291226148605347, 0.5259668231010437, 0.5542395710945129, 0.6797512173652649, 0.10791664570569992, 0.4547860324382782, 0.23123089969158173, 0.10957689583301544, 0.022118592634797096, 0.4595833718776703, 0.2792040705680847, 0.12119869887828827, 0.014270060695707798, 0.26193371415138245, 0.5632054805755615, 0.11953844130039215, 0.02354559674859047, 0.0021990055684000254, 0.4519076347351074, 0.34252873063087463, 0.20753200352191925, 0.051372215151786804, 43.64250183105469, 13.708499908447266, 16.597999572753906, 5.093999862670898, 0.9751999974250793, 3.0840001106262207, 6.56879997253418, 2.4935667514801025, 3.8855323791503906, 2.302703857421875, 1.8739758729934692, 0.6275768280029297, 2.148240566253662, 2.1396052837371826, 1.0592433214187622, 0.21405088901519775, 1.5485752820968628, 0.2437039166688919, 1.0625640153884888, 0.21262387931346893, 1.443034291267395, 0.25233909487724304, 0.48147425055503845, 0.1412736028432846, 0.11962589621543884, 1.19069504737854, 0.47013747692108154, 0.6441793441772461, 0.1534031331539154, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.42085075378418, 4.677772045135498, -11.162941932678223, -1.1340922117233276, 0.22233743965625763, 0.22047439217567444, 2.057007312774658, 0.031202198937535286, -0.0059187086299061775, 0.042986419051885605, 0.003499093931168318, -8.831195009406656e-05, 0.050695765763521194, 0.015512801706790924, 0.005470501724630594, 0.0005202964530326426, 0.04543724283576012, -0.017569145187735558, 0.002195747336372733, -0.0032345708459615707, 0.020329711958765984, 0.03860962390899658, 0.012174924835562706, 0.00034191543818451464, -1.8502269085729495e-05, 0.06596513092517853, 0.028636900708079338, 0.008777324110269547, 3.86421634175349e-05, 24.123212814331055, 0.8836359977722168, 10.075031280517578, -4.233798027038574, -0.25538671016693115, 1.0158430337905884, -0.9007152318954468, 0.11394496262073517, 0.5593302845954895, 0.3486773669719696, 0.2523890733718872, 0.03855520114302635, 0.5919413566589355, 0.011411046609282494, 0.2899361848831177, 0.05777420476078987, 0.002155556343495846, -0.018536942079663277, 0.0020552491769194603, 0.0026221578009426594, 0.00543108768761158, -0.013193090446293354, 0.0004495870089158416, -0.00018458679551258683, 0.0006673545576632023, 0.01754177361726761, -0.01434327568858862, 0.001050909049808979, 0.0014742766506969929, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.1601197719573975, 1.046412467956543, 0.666060745716095, 0.7716683149337769, 0.2057340145111084, 0.2963862419128418, 0.238204687833786, 0.09906239807605743, 0.09454772621393204, 0.0894782543182373, 0.07468714565038681, 0.009501033462584019, 0.06635730713605881, 0.04222514480352402, 0.01682119630277157, 0.006712678819894791, 0.07032345980405807, 0.04524063318967819, 0.012322197668254375, 0.007535296492278576, 0.07503768801689148, 0.10658230632543564, 0.021723845973610878, 0.00553135247901082, 0.000327876303344965, 0.08668500185012817, 0.07726024091243744, 0.024108754470944405, 0.013088296167552471, 4.382747173309326, 2.7163212299346924, 2.746539831161499, 1.712449073791504, 0.43981361389160156, 1.036355972290039, 1.0204827785491943, 0.702846109867096, 0.9095704555511475, 0.5998772382736206, 0.5187186002731323, 0.1069214791059494, 0.8965432643890381, 0.35995522141456604, 0.44466906785964966, 0.10495521128177643, 0.1118546649813652, 0.07694258540868759, 0.06302167475223541, 0.015328040346503258, 0.12285598367452621, 0.07081288844347, 0.013565067201852798, 0.009591367095708847, 0.013998512178659439, 0.0836680680513382, 0.1083553358912468, 0.020170578733086586, 0.006440149154514074, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2068]}, "observation.state.tcp": {"min": [0.36188095808029175, 0.18974991142749786, 0.9116923213005066, -1.2135688066482544, 1.2180277109146118, -1.3555124998092651, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3366490602493286, -0.2498617172241211, 0.907155454158783, -0.9140732884407043, 1.2183490991592407, 0.7296309471130371, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.5022906064987183, 0.34919142723083496, 1.0516685247421265, -0.8790057897567749, 1.6014143228530884, -1.114543080329895, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5126055479049683, 0.04389408975839615, 1.053114891052246, 1.304816722869873, 2.2197210788726807, 1.5200328826904297, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4640180468559265, 0.31401243805885315, 0.9444226622581482, -1.1447104215621948, 1.4823694229125977, -1.2306808233261108, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3963891565799713, -0.08219833672046661, 0.9342817664146423, -0.26227936148643494, 1.9512571096420288, 1.0315543413162231, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.015307358466088772, 0.026551635935902596, 0.02488144114613533, 0.06190964952111244, 0.1019022986292839, 0.07184195518493652, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03335349261760712, 0.06598226726055145, 0.026830436661839485, 0.4226274788379669, 0.16669444739818573, 0.18112409114837646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2068]}, "action": {"min": [1.0251606702804565, -0.7799999713897705, -0.18923859298229218, 0.9081017374992371, -0.0794805958867073, -0.7699999809265137, 0.4222519099712372, 0.0, -0.2546301484107971, 0.0, 0.0, 0.0, -0.0867142528295517, -0.06403309851884842, 0.0, 0.0, -0.1745329201221466, -0.05156952887773514, 0.0, 0.0, -0.14279277622699738, -0.06911427527666092, 0.0, 0.0, 0.0, -0.1495494395494461, -0.17678064107894897, 0.0, 0.0, 1.050492286682129, -0.7796456813812256, -0.23071902990341187, 0.8584356904029846, -1.5802160501480103, -0.7691954374313354, -0.15864288806915283, 0.0, -0.2334335893392563, 0.0, -0.3253846764564514, -0.1741490662097931, 0.0, -0.10209495574235916, 0.0, 0.0, 0.0, -0.03402448445558548, 0.0, 0.0, 0.0, -0.0555003359913826, 0.0, 0.0, 0.0, -0.05643131956458092, -0.07659251242876053, 0.0, 0.0, 0.5613411068916321, -1.1069588661193848, 0.5442397594451904, -0.04709705337882042, -0.05990825966000557, 0.0, -0.8726646304130554], "max": [1.2520350217819214, -0.5680801272392273, 0.0, 1.5700000524520874, -3.469446951953614e-18, -0.001501406659372151, 0.7132717370986938, 1.2291979789733887, 0.0, 0.16815246641635895, 0.3279950022697449, 0.4822549521923065, 0.6632722616195679, 0.09128277748823166, 0.13958412408828735, 0.29700738191604614, 0.529805064201355, 0.12637227773666382, 0.14772571623325348, 0.01445765420794487, 0.23892757296562195, 0.11908596009016037, 0.23540566861629486, 0.3291444480419159, 0.03861796855926514, 0.38617968559265137, 0.049193911254405975, 0.768831193447113, 0.6588829755783081, 1.3339866399765015, -0.1320202350616455, -0.0004910862189717591, 1.5689080953598022, 0.1464761197566986, 0.0933288186788559, 0.5859052538871765, 1.560139536857605, 0.0, 0.8441176414489746, 0.3490658402442932, 0.47031447291374207, 1.1362003087997437, 0.26280075311660767, 0.22979097068309784, 0.9068698883056641, 1.5707963705062866, 0.25915753841400146, 1.7453292608261108, 1.3962633609771729, 1.5707963705062866, 0.2400786280632019, 1.7453292608261108, 1.3962633609771729, 0.07190535217523575, 1.5707963705062866, 0.33202165365219116, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.1068637371063232, 0.7179213762283325, 0.0, 0.040943898260593414, 0.2627207934856415, -0.6000000238418579], "mean": [1.1851664781570435, -0.7056361436843872, -0.16749031841754913, 0.9974785447120667, -0.07651594281196594, -0.16143926978111267, 0.5042613744735718, 1.1836330890655518, -0.2184283286333084, 0.10350176692008972, 0.2966884970664978, 0.4715237617492676, 0.47459399700164795, 0.030421994626522064, 0.07135879993438721, 0.2816886901855469, 0.321779727935791, 0.051297787576913834, 0.042242344468832016, 0.0014540913980454206, 0.07584739476442337, 0.028204545378684998, 0.07277465611696243, 0.3153400421142578, 0.011186020448803902, 0.07140394300222397, -0.07625383883714676, 0.18807853758335114, 0.16080749034881592, 1.1564818620681763, -0.4851430654525757, -0.21945884823799133, 1.2187435626983643, -1.2481495141983032, -0.26824891567230225, 0.20160572230815887, 1.2548832893371582, -0.1241094246506691, 0.4949352443218231, -0.07692234218120575, 0.0830313041806221, 0.8734927177429199, 0.15186086297035217, 0.05423792079091072, 0.6200778484344482, 1.3590083122253418, 0.17002756893634796, 1.6442667245864868, 1.2101776599884033, 1.0804377794265747, 0.14378653466701508, 1.6478596925735474, 1.275494933128357, 0.06078594550490379, 1.478685975074768, 0.21947595477104187, 1.6570097208023071, 1.325575590133667, 0.5613712072372437, -1.106939673423767, 0.69174724817276, -0.028469791635870934, 0.016648216173052788, 0.22113631665706635, -0.8652376532554626], "std": [0.041855957359075546, 0.0248172078281641, 0.025007832795381546, 0.07579680532217026, 0.010139377787709236, 0.12407494336366653, 0.05252254009246826, 0.16840235888957977, 0.03624134883284569, 0.034784793853759766, 0.04552312195301056, 0.07112064957618713, 0.1522640585899353, 0.03490384295582771, 0.03619909659028053, 0.0426572747528553, 0.14117373526096344, 0.039623528718948364, 0.059683386236429214, 0.0040357597172260284, 0.11088864505290985, 0.048206429928541183, 0.0670759454369545, 0.04789527878165245, 0.015448679216206074, 0.17953547835350037, 0.07824388891458511, 0.29806047677993774, 0.2557317614555359, 0.04487372562289238, 0.17538511753082275, 0.026737624779343605, 0.2113686203956604, 0.3012928366661072, 0.1914445459842682, 0.2067083716392517, 0.18942749500274658, 0.06217445060610771, 0.17189110815525055, 0.11965955048799515, 0.16423599421977997, 0.20829270780086517, 0.06998875737190247, 0.03354759141802788, 0.2564716637134552, 0.32837289571762085, 0.05445028468966484, 0.4013764560222626, 0.30034375190734863, 0.3000953495502472, 0.0483434721827507, 0.3979742228984833, 0.31218400597572327, 0.015875760465860367, 0.3644087314605713, 0.06612677872180939, 0.37022560834884644, 0.29619020223617554, 0.00016635816427879035, 1.940607398864813e-05, 0.026685621589422226, 0.00782651174813509, 0.017291296273469925, 0.04285648465156555, 0.037748366594314575], "count": [2068]}, "observation.state.tcp_pose": {"min": [0.36188095808029175, 0.18974991142749786, 0.9116923213005066, -1.2135688066482544, 1.2180277109146118, -1.3555124998092651, 0.3366490602493286, -0.2498617172241211, 0.907155454158783, -0.9140732884407043, 1.2183490991592407, 0.7296309471130371], "max": [0.5022906064987183, 0.34919142723083496, 1.0516685247421265, -0.8790057897567749, 1.6014143228530884, -1.114543080329895, 0.5126055479049683, 0.04389408975839615, 1.053114891052246, 1.304816722869873, 2.2197210788726807, 1.5200328826904297], "mean": [0.4640180468559265, 0.31401243805885315, 0.9444226622581482, -1.1447104215621948, 1.4823694229125977, -1.2306808233261108, 0.3963891565799713, -0.08219833672046661, 0.9342817664146423, -0.26227936148643494, 1.9512571096420288, 1.0315543413162231], "std": [0.015307358466088772, 0.026551635935902596, 0.02488144114613533, 0.06190964952111244, 0.1019022986292839, 0.07184195518493652, 0.03335349261760712, 0.06598226726055145, 0.026830436661839485, 0.4226274788379669, 0.16669444739818573, 0.18112409114837646], "count": [2068]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.18630188703536987, 0.9145146608352661, -1.211311936378479, 1.2178406715393066, -1.3644052743911743, 0.3365465998649597, -0.2509002387523651, 0.9070162177085876, -0.9139834046363831, 1.2188618183135986, 0.7296348214149475], "max": [0.501800537109375, 0.3499593138694763, 1.0518032312393188, -0.8684979677200317, 1.6025291681289673, -1.1138299703598022, 0.5127249360084534, 0.044330064207315445, 1.0518829822540283, 1.3052978515625, 2.221168279647827, 1.521669864654541], "mean": [0.46398282051086426, 0.3140571713447571, 0.944422721862793, -1.1446623802185059, 1.482179045677185, -1.2305128574371338, 0.39642027020454407, -0.08229199796915054, 0.9343311190605164, -0.2627834975719452, 1.9507935047149658, 1.0313218832015991], "std": [0.015340430662035942, 0.026610061526298523, 0.024528805166482925, 0.06150291860103607, 0.10185088962316513, 0.0719672292470932, 0.03342985734343529, 0.06606107950210571, 0.026923438534140587, 0.4217939078807831, 0.1670866161584854, 0.1810055375099182], "count": [2068]}, "subtask_index": {"min": [933], "max": [948], "mean": [943.0493230174081], "std": [3.5618987023326616], "count": [2068]}, "observation.tactile": {"min": [-0.03170548006892204, -3.317588198115118e-05, -7.459493645001203e-05, -0.0014775898307561874, -0.00032984904828481376, -0.00043829012429341674, -0.008402085863053799, -2.498556932550855e-05, -5.1275746955070645e-05, -0.00110794382635504, -2.663693157956004e-05, -0.00017071700131054968, -0.014898817054927349, -3.8322468753904104e-05, -8.53816673043184e-05, -0.0015380950644612312, -2.321250030945521e-05, -0.00035349169047549367, -0.9583835005760193, -3.429265052545816e-05, -7.625530997756869e-05, -0.003552558831870556, -0.0006490819505415857, -0.012439447455108166, -0.007343832403421402, -5.834653347847052e-05, -0.00013279367703944445, -0.0005904820864088833, -9.682081872597337e-05, -9.781365224625915e-05, -0.6388674974441528, -3.873913738061674e-05, -8.651246025692672e-05, -0.19481056928634644, -0.015152807347476482, -0.0165847297757864, -8.442334175109863, 0.0, 0.0, -0.39503905177116394, -0.04719994217157364, -0.1454692780971527, -0.2507961690425873, -5.0733768148347735e-05, -0.00011390141298761591, -0.008801926858723164, -0.001983514055609703, -0.005118879489600658, -0.010106734931468964, -4.324704423197545e-05, -9.335913637187332e-05, -0.0017033098265528679, -9.452927770325914e-05, -0.0002355018659727648, -0.006900193635374308, -4.073632590007037e-05, -8.947947208071128e-05, -0.0011946953600272536, -4.364419510238804e-05, -0.00017416240007150918], "max": [0.00026570307090878487, 0.027601581066846848, 0.08271738141775131, 1.4554626659446512e-06, 6.571431003976613e-05, 5.705996954930015e-06, 0.01736956275999546, 0.020041843876242638, 0.0603080615401268, 9.727019687488792e-07, 0.00035080761881545186, 0.00023847914417274296, 0.003185165347531438, 0.024299297481775284, 0.07093019038438797, 1.5848515886318637e-06, 0.00013844996283296496, 4.8177291319007054e-05, 0.001192896394059062, 0.09302401542663574, 0.2674165666103363, 1.4019617537996965e-06, 0.00020503545238170773, 8.7646412794129e-06, 0.12675216794013977, 0.02118024416267872, 0.035374775528907776, 2.5462611574766925e-06, 6.868463970022276e-05, 0.0021112363319844007, 6.731561660766602, 10.383376121520996, 9.013110160827637, 1.5881812487350544e-06, 0.02842954732477665, 0.14141406118869781, 5.858029365539551, 15.20998477935791, 23.795705795288086, 0.0, 0.016511166468262672, 0.10340655595064163, 0.03573185205459595, 0.23358827829360962, 0.33482515811920166, 2.056953917417559e-06, 0.0005080414121039212, 0.0004457591858226806, 0.013228652067482471, 0.03426063060760498, 0.09954661130905151, 1.7607808331376873e-06, 0.00025221327086910605, 0.00016132279415614903, 0.0008498624665662646, 0.019201023504137993, 0.05234416574239731, 1.6574513210798614e-06, 7.725597242824733e-05, 1.1401449228287674e-05], "mean": [-0.0031854838598519564, 0.004737973678857088, 0.013520157895982265, -0.00022432133846450597, -4.539481597021222e-05, -3.614968227338977e-05, -0.00022479039034806192, 0.0013300698483362794, 0.0039191702380776405, -7.292403461178765e-05, 1.0902859685302246e-05, -7.718178494542371e-06, -0.0007439945475198328, 0.002926869783550501, 0.008481429889798164, -0.00017233310791198164, 2.2846701540402137e-05, -2.2715770683134906e-05, -0.010239711962640285, 0.001429677358828485, 0.003814419498667121, -5.5830201745266095e-05, -3.873939022014383e-06, -0.00013163647963665426, 0.00040946429362520576, 0.0006053640390746295, 0.0017831174191087484, -3.7754507502540946e-05, 2.813746277752216e-06, 6.885756647534436e-06, 1.103131890296936, 1.5319664478302002, 1.9158869981765747, -0.040505487471818924, 0.003826888743788004, 0.021944759413599968, -0.5446728467941284, 2.540947198867798, 4.700901508331299, -0.09383269399404526, -0.0042734951712191105, -0.008713807910680771, 0.0005922268610447645, 0.00535982521250844, 0.015543459914624691, -0.00031604873947799206, 5.483303903019987e-05, -1.1856349374284036e-05, -0.0009244375396519899, 0.007147584576159716, 0.02100328728556633, -0.0003626332327257842, 1.639869878999889e-05, -2.1356483557610773e-05, -0.0012263496173545718, 0.006536956876516342, 0.01866200566291809, -0.0004180197138339281, 1.4368186384672299e-05, -3.2733405532781035e-05], "std": [0.00460545951500535, 0.005878342781215906, 0.01678377389907837, 0.00028168916469439864, 6.559511530213058e-05, 5.714578946935944e-05, 0.0013419069582596421, 0.0026869294233620167, 0.007929540239274502, 0.0001538223004899919, 2.8081050913897343e-05, 2.6317831725464202e-05, 0.0013057776959612966, 0.0034939402248710394, 0.01009687501937151, 0.00021002133144065738, 2.7548043362912722e-05, 3.2161995477508754e-05, 0.07449042052030563, 0.00747402710840106, 0.01984292082488537, 0.00026352322311140597, 4.3418338464107364e-05, 0.0009633211884647608, 0.003354097018018365, 0.0013919842895120382, 0.0038359344471246004, 7.945678953547031e-05, 1.0372647921030875e-05, 5.614574911305681e-05, 1.8483601808547974, 2.2894270420074463, 2.7127184867858887, 0.05712613835930824, 0.007653724867850542, 0.03786438703536987, 2.272430181503296, 3.3521111011505127, 6.250743865966797, 0.11904118210077286, 0.007375590968877077, 0.04273334518074989, 0.007049192674458027, 0.007099834270775318, 0.014894441701471806, 0.00031328515615314245, 8.288541721412912e-05, 0.00013224869326222688, 0.0016011815750971437, 0.00551350275054574, 0.01605149172246456, 0.00029171063215471804, 3.862035373458639e-05, 3.071094397455454e-05, 0.0010257316753268242, 0.003949185833334923, 0.011086107231676579, 0.0002615216071717441, 1.2712237548839767e-05, 2.3458758732886054e-05], "count": [2068]}, "timestamp": {"min": [0.0], "max": [68.9], "mean": [34.449999999999996], "std": [19.899336951544672], "count": [2068]}, "frame_index": {"min": [0], "max": [2067], "mean": [1033.5], "std": [596.9801085463401], "count": [2068]}, "episode_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [2068]}, "index": {"min": [50300], "max": [52367], "mean": [51333.5], "std": [596.9801085463401], "count": [2068]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2068]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.536237359046936]], [[0.5360183715820312]], [[0.5379977226257324]]], "std": [[[0.2994121313095093]], [[0.2996309697628021]], [[0.300216943025589]]], "count": [2068]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24316899478435516]], [[0.24312962591648102]], [[0.24259762465953827]]], "std": [[[0.15388740599155426]], [[0.15458297729492188]], [[0.1537686139345169]]], "count": [2068]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.1873760223388672]], [[0.18795596063137054]], [[0.1858712136745453]]], "std": [[[0.12402188032865524]], [[0.12412647157907486]], [[0.12669844925403595]]], "count": [2068]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5377934575080872]], [[0.53770512342453]], [[0.5392892360687256]]], "std": [[[0.3002776503562927]], [[0.3007003366947174]], [[0.3019394278526306]]], "count": [2068]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7529411911964417]], [[0.7529411911964417]], [[0.7529411911964417]]], "mean": [[[0.0017320872284471989]], [[0.0017320872284471989]], [[0.0017320872284471989]]], "std": [[[0.025417523458600044]], [[0.025417523458600044]], [[0.025417523458600044]]], "count": [2068]}, "observation.images.tactile_raw": {"min": [[[0.0235294122248888]], [[0.0235294122248888]], [[0.0235294122248888]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4677083194255829]], [[0.4677083194255829]], [[0.4677083194255829]]], "std": [[[0.2349332571029663]], [[0.2349332571029663]], [[0.2349332571029663]]], "count": [2068]}}}
+{"episode_index": 31, "stats": {"observation.state": {"min": [1.008116602897644, -0.7798589468002319, -0.15847627818584442, 0.9852254986763, -0.08363646268844604, -0.7698171138763428, 0.26475632190704346, 0.006277803797274828, -0.2500455677509308, 0.0031946750823408365, 8.049663301790133e-05, 0.0030768965370953083, 0.003596796654164791, -0.013570046052336693, 0.003456988139078021, 0.0008464942802675068, -0.07957379519939423, 0.00037925559445284307, 0.0034598244819790125, 0.0008584667230024934, -0.12308664619922638, -0.017842676490545273, 0.0030832786578685045, 0.0008216626010835171, 0.012964059598743916, -0.13817788660526276, -0.03825576603412628, 0.003488898742944002, 0.0008615707047283649, 0.9790880084037781, -0.8351202607154846, -0.23240827023983002, 0.953883171081543, -1.3810847997665405, -0.7696279883384705, -0.17369768023490906, 0.007210277486592531, -0.2551235556602478, 0.0030689104460179806, -0.2644352316856384, 0.0034523785579949617, 0.005123387090861797, -0.057207267731428146, 0.003109870944172144, 0.0007915098103694618, 0.0036811847239732742, -0.002006672089919448, 0.002671631285920739, 0.000863787776324898, -0.0008730731206014752, -0.02336004376411438, 0.0035413738805800676, 0.0008646746282465756, 0.005440581124275923, -0.05758039280772209, -0.03560538962483406, 0.003492798889055848, 0.0008766470709815621, 0.5611493587493896, -1.1070547103881836, 0.5445631742477417, -0.05205947160720825, -0.016394419595599174, 9.58738019107841e-05, -0.8729309439659119], "max": [1.2279762029647827, -0.5778685808181763, -0.00029205557075329125, 1.5696725845336914, -0.0001324256882071495, 0.1912594735622406, 0.6981785297393799, 1.2172083854675293, 5.600988879450597e-05, 0.4390839636325836, 0.31476420164108276, 0.47962358593940735, 0.8082960247993469, 0.09492944926023483, 0.1725618541240692, 0.2951586842536926, 0.601866602897644, 0.1375044882297516, 0.12167958915233612, 0.017679713666439056, 0.30046695470809937, 0.17109929025173187, 0.3367233872413635, 0.34141433238983154, 0.013606268912553787, 0.3304394483566284, 0.06328736990690231, 0.630453884601593, 0.5450088381767273, 1.318276286125183, -0.2550654411315918, -0.0005081311101093888, 1.662192940711975, 0.10068762302398682, -0.04250936582684517, 0.5521381497383118, 1.5345935821533203, 0.0004992107860744, 0.8962534070014954, 0.3161328434944153, 0.4976860582828522, 1.1640547513961792, 0.24304920434951782, 1.017651081085205, 1.0670381784439087, 1.4687443971633911, 0.2716464698314667, 1.6556851863861084, 1.30828857421875, 1.4692636728286743, 0.20790426433086395, 1.654829740524292, 1.3082469701766968, 0.06947417557239532, 1.4686143398284912, 0.3145683705806732, 1.6553175449371338, 1.3081711530685425, 0.5627791881561279, -1.105904221534729, 0.7099454998970032, 0.006423544604331255, 0.0541686974465847, 0.2461080402135849, -0.5798447132110596], "mean": [1.1249607801437378, -0.715035080909729, -0.13976140320301056, 1.0640679597854614, -0.06278455257415771, -0.0575651191174984, 0.47466111183166504, 1.1765884160995483, -0.20636999607086182, 0.23853646218776703, 0.2912628650665283, 0.4704216420650482, 0.6478509306907654, 0.060483332723379135, 0.11641942709684372, 0.28507354855537415, 0.473296195268631, 0.09329473972320557, 0.053482960909605026, 0.012383733876049519, 0.17516668140888214, 0.10416890680789948, 0.16174140572547913, 0.32910922169685364, 0.013178985565900803, 0.15438809990882874, 0.015123732388019562, 0.2835751175880432, 0.24467074871063232, 1.0781089067459106, -0.5862796902656555, -0.2228798270225525, 1.3946421146392822, -1.1451505422592163, -0.4437576234340668, 0.08474977314472198, 1.3011101484298706, -0.18734478950500488, 0.5056271553039551, -0.07163070142269135, 0.10269326716661453, 0.9241743087768555, 0.17329400777816772, 0.08573034405708313, 0.5614013075828552, 1.404273509979248, 0.158542662858963, 1.573787808418274, 1.2333884239196777, 1.4006004333496094, 0.09834934771060944, 1.5756726264953613, 1.1833031177520752, 0.0655621811747551, 1.3961166143417358, 0.2303527444601059, 1.5928878784179688, 1.2578999996185303, 0.5613645315170288, -1.1068540811538696, 0.6830838322639465, -0.027094703167676926, 0.014831223525106907, 0.20806248486042023, -0.8630844354629517], "std": [0.033983368426561356, 0.017570985481142998, 0.017637331038713455, 0.07175754010677338, 0.012688924558460712, 0.1569785326719284, 0.09450457990169525, 0.1450168490409851, 0.03329205513000488, 0.11825622618198395, 0.03858969360589981, 0.06071741506457329, 0.15833480656147003, 0.023158978670835495, 0.044968266040086746, 0.03734771907329559, 0.1148604303598404, 0.026129530742764473, 0.0407075397670269, 0.005046759266406298, 0.08038012683391571, 0.04357200860977173, 0.09923868626356125, 0.04303194582462311, 0.00011139533307868987, 0.10623952746391296, 0.029808850958943367, 0.2005838304758072, 0.17242345213890076, 0.056046273559331894, 0.13308626413345337, 0.026401223614811897, 0.18371529877185822, 0.22946329414844513, 0.13854306936264038, 0.1503014713525772, 0.16245709359645844, 0.04153788089752197, 0.1744793951511383, 0.09926798194646835, 0.09786860644817352, 0.1949748396873474, 0.048629745841026306, 0.13351844251155853, 0.2471834421157837, 0.27532991766929626, 0.03843337297439575, 0.34338173270225525, 0.27641281485557556, 0.29335102438926697, 0.030516020953655243, 0.34503141045570374, 0.263506144285202, 0.013329301960766315, 0.3107934892177582, 0.05482063814997673, 0.29309985041618347, 0.2329641431570053, 0.00014427689893636853, 6.866018520668149e-05, 0.022337844595313072, 0.010884860530495644, 0.015460483729839325, 0.039485864341259, 0.04569178447127342], "count": [2223]}, "observation.state.joint_torque": {"min": [-42.89849853515625, -8.281499862670898, -18.99799919128418, -9.593000411987305, -0.758400022983551, -1.1375999450683594, 0.504800021648407, -0.6456784605979919, -0.8991104364395142, -0.4349413216114044, -0.4026314318180084, -0.12783971428871155, -0.32333943247795105, -0.4375156760215759, -0.16436536610126495, -0.03424813970923424, -0.25233909487724304, -0.23027141392230988, -0.07637178897857666, -0.03710215538740158, -0.4192858636379242, -0.5516919493675232, -0.25899994373321533, -0.04923170804977417, -0.0030786076094955206, -0.7004088759422302, -0.8078688979148865, -0.32208967208862305, -0.07420431077480316, 2.7869999408721924, -12.684000015258789, -7.196000099182129, -12.930999755859375, -1.881600022315979, -4.688000202178955, -3.5280001163482666, -1.7230826616287231, -0.7501077055931091, -0.5853067636489868, -1.0314323902130127, -0.1593845784664154, -0.9546669125556946, -1.1446409225463867, -0.9646087884902954, -0.21333740651607513, -0.29455551505088806, -0.3195015788078308, -0.43830758333206177, -0.07277730107307434, -1.1456003189086914, -0.8011526465415955, -0.12451920658349991, -0.10773894935846329, -0.14645375311374664, -1.028545618057251, -0.471096932888031, -0.09463459998369217, -0.0321076326072216, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-13.770000457763672, 14.941499710083008, -4.798999786376953, 4.038000106811523, 1.8727999925613403, 1.146399974822998, 3.583199977874756, 0.6711490154266357, 0.3693229854106903, 0.5355992317199707, 0.5654237866401672, 0.11289741843938828, 0.3530828356742859, 0.2014874815940857, 0.1145576685667038, 0.015697065740823746, 0.37035319209098816, 0.1583116054534912, 0.10957689583301544, 0.015697065740823746, 0.41065070033073425, 0.7531794905662537, 0.24239739775657654, 0.026399608701467514, 0.0021990055684000254, 0.5209890604019165, 0.30894747376441956, 0.1859486699104309, 0.038529157638549805, 54.31050109863281, 13.571999549865723, 20.55699920654297, 3.0889999866485596, 0.5896000266075134, 2.804800033569336, 5.861599922180176, 2.2426819801330566, 4.396216869354248, 1.9261687994003296, 1.7422508001327515, 0.5893909335136414, 2.154956579208374, 2.1396052837371826, 1.0592433214187622, 0.21405088901519775, 0.5027592778205872, 0.31854212284088135, 0.7122498750686646, 0.15768416225910187, 1.4382368326187134, 0.24466337263584137, 0.08467306196689606, 0.14983563125133514, 0.12798210978507996, 1.5437779426574707, 0.4384751617908478, 0.10459613054990768, 0.1284305304288864, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.20979881286621, 5.099856376647949, -11.32567024230957, -2.2460098266601562, 0.0382552333176136, -0.013220082968473434, 2.010319471359253, 0.010418528690934181, -0.0262766070663929, 0.054791949689388275, 0.011695210821926594, 8.514084038324654e-05, 0.04872468113899231, -0.009198863059282303, 0.007632863242179155, 0.001871547196060419, 0.034789033234119415, -0.025761447846889496, 0.005054719280451536, -0.00015309994341805577, 0.06179345026612282, 0.08226008713245392, 0.026331763714551926, 0.0023147957399487495, -3.0269684430095367e-05, 0.058579541742801666, 0.009217388927936554, 0.01569439470767975, 0.007161663845181465, 21.937814712524414, 1.6811814308166504, 10.408063888549805, -5.779061317443848, -0.5845398902893066, 1.1665014028549194, -1.194422960281372, 0.05703131854534149, 0.4299618899822235, 0.2631857693195343, 0.19601012766361237, 0.048725489526987076, 0.48140496015548706, -0.02709028869867325, 0.2274407595396042, 0.04765849560499191, 0.0053398204036056995, -0.0038421752396970987, 0.0019149362342432141, 0.002086266875267029, 0.0012999923201277852, -0.01862817071378231, 0.00018148669914808124, 0.001632415922358632, 0.0002823240065481514, 0.017951354384422302, -0.011851093731820583, 0.000767019868362695, 0.0014632770325988531, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.4020129442214966, 1.0070643424987793, 0.7273460030555725, 0.9021263122558594, 0.23412540555000305, 0.37605220079421997, 0.2768530547618866, 0.10204563289880753, 0.09765548259019852, 0.1018398255109787, 0.07586872577667236, 0.00844502355903387, 0.06424746662378311, 0.04908888414502144, 0.017582818865776062, 0.004691905342042446, 0.057843249291181564, 0.04286126792430878, 0.014038141816854477, 0.005589044187217951, 0.0999068170785904, 0.12819233536720276, 0.04001954570412636, 0.006366725545376539, 0.00034982466604560614, 0.12147831916809082, 0.10469146817922592, 0.030229423195123672, 0.010532299987971783, 3.5856120586395264, 2.180527925491333, 1.7860541343688965, 1.6107454299926758, 0.29720672965049744, 0.7120519876480103, 0.7460616230964661, 0.510101854801178, 0.8417404890060425, 0.5076130628585815, 0.4744032919406891, 0.1316964030265808, 0.850200355052948, 0.2693888545036316, 0.41899052262306213, 0.09672506898641586, 0.047043293714523315, 0.07024410367012024, 0.023818111047148705, 0.008566298522055149, 0.05660123750567436, 0.0815548226237297, 0.008217298425734043, 0.011744488030672073, 0.013130619190633297, 0.07049788534641266, 0.1101430356502533, 0.013106660917401314, 0.005147443152964115, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2223]}, "observation.state.tcp": {"min": [0.36196228861808777, 0.19228114187717438, 0.8905200958251953, -1.3673291206359863, 1.1859815120697021, -1.7001837491989136, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2843080461025238, -0.21956026554107666, 0.892035722732544, -0.5465257167816162, 1.2190959453582764, 0.7036251425743103, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4859294593334198, 0.31085479259490967, 1.0513873100280762, -0.9180055260658264, 1.8310573101043701, -1.2286040782928467, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5086910128593445, -0.005409712437540293, 1.051822543144226, 1.2594659328460693, 2.2177956104278564, 1.3536516427993774, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4398428499698639, 0.28735753893852234, 0.9282918572425842, -1.217779517173767, 1.572928547859192, -1.3737245798110962, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.35301798582077026, -0.09928985685110092, 0.9229146838188171, 0.019739465788006783, 1.9553124904632568, 1.0136150121688843, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01962938718497753, 0.020190969109535217, 0.02682638168334961, 0.08145305514335632, 0.14443065226078033, 0.13851559162139893, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0424281544983387, 0.04934493452310562, 0.025476180016994476, 0.2820800542831421, 0.1637887805700302, 0.12136562913656235, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2223]}, "action": {"min": [1.0072176456451416, -0.7799980640411377, -0.15848180651664734, 0.9842267036437988, -0.08360323309898376, -0.7699528932571411, 0.2647307813167572, 0.0, -0.25884872674942017, 0.0, 0.0, 0.0, 0.0, -0.01427418738603592, 0.0, 0.0, -0.11662238836288452, 0.0, 0.0, 0.0, -0.14864346385002136, -0.024916477501392365, 0.0, 0.0, 0.0, -0.15055616199970245, -0.1567431092262268, 0.0, 0.0, 0.9790781736373901, -0.8352844715118408, -0.23240163922309875, 0.9538054466247559, -1.3810831308364868, -0.7694388628005981, -0.17359942197799683, 0.0, -0.2595113217830658, 0.0, -0.26661401987075806, -0.17127278447151184, 0.0, -0.05502087622880936, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.02625877410173416, 0.0, 0.0, 0.0, -0.057639386504888535, -0.05281598120927811, 0.0, 0.0, 0.5613411068916321, -1.1069588661193848, 0.5442397594451904, -0.0529426671564579, -0.0278154443949461, 0.0, -0.8727068901062012], "max": [1.2279703617095947, -0.5773895978927612, -5.764632987848017e-06, 1.5699772834777832, -4.184219960734481e-06, 0.19145523011684418, 0.7025547623634338, 1.222966194152832, 0.0, 0.4446142017841339, 0.3216673731803894, 0.4822549521923065, 0.8108299374580383, 0.09358351677656174, 0.178847998380661, 0.29775527119636536, 0.6078619956970215, 0.14315026998519897, 0.12696827948093414, 0.01994149573147297, 0.31021416187286377, 0.1702825427055359, 0.34346210956573486, 0.34327635169029236, 0.033833861351013184, 0.33833861351013184, 0.06136982887983322, 0.638903021812439, 0.5476311445236206, 1.3186012506484985, -0.2549610733985901, -0.00035865898826159537, 1.6622709035873413, 0.10076490044593811, -0.04244206100702286, 0.5532194375991821, 1.5429490804672241, 0.0, 0.8944511413574219, 0.3490658402442932, 0.5009941458702087, 1.2031203508377075, 0.3038347363471985, 1.026405930519104, 1.0713894367218018, 1.5707963705062866, 0.2775653600692749, 1.7453292608261108, 1.3962633609771729, 1.5707963705062866, 0.2102620005607605, 1.7453292608261108, 1.3962633609771729, 0.08344471454620361, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.1068636178970337, 0.7107104659080505, 0.007293292321264744, 0.05473233014345169, 0.24670255184173584, -0.5799097418785095], "mean": [1.1249606609344482, -0.7149954438209534, -0.13977183401584625, 1.063897728919983, -0.06278808414936066, -0.05769762769341469, 0.47471415996551514, 1.1824967861175537, -0.20839881896972656, 0.24170371890068054, 0.2928732633590698, 0.47292324900627136, 0.6537234783172607, 0.06008176505565643, 0.12039125710725784, 0.2875375747680664, 0.47970420122146606, 0.09325429052114487, 0.05622323229908943, 0.013802300207316875, 0.17898744344711304, 0.10660318285226822, 0.16585616767406464, 0.33220767974853516, 0.018981100991368294, 0.160491481423378, 0.005223756190389395, 0.2885109782218933, 0.24707791209220886, 1.0781917572021484, -0.5863963961601257, -0.22291584312915802, 1.3945391178131104, -1.1456544399261475, -0.44401106238365173, 0.08498712629079819, 1.3008239269256592, -0.18652033805847168, 0.5091636180877686, -0.0667945146560669, 0.07981821149587631, 0.9433251023292542, 0.17365802824497223, 0.0917808786034584, 0.589749813079834, 1.5033681392669678, 0.15807509422302246, 1.6381217241287231, 1.2553187608718872, 1.4994839429855347, 0.0970260351896286, 1.6641205549240112, 1.1898819208145142, 0.07409161329269409, 1.49626886844635, 0.22975106537342072, 1.6773780584335327, 1.3413301706314087, 0.5613709092140198, -1.106939435005188, 0.6831274628639221, -0.0271393321454525, 0.014876713976264, 0.2080969661474228, -0.8629487752914429], "std": [0.03393716737627983, 0.017658740282058716, 0.01760680042207241, 0.07149550318717957, 0.012689037248492241, 0.15710090100765228, 0.09442300349473953, 0.15776482224464417, 0.035753533244132996, 0.12081172317266464, 0.042139265686273575, 0.06642013788223267, 0.16328135132789612, 0.022071456536650658, 0.04569073021411896, 0.040531937032938004, 0.12066660821437836, 0.026011211797595024, 0.042618073523044586, 0.006120008882135153, 0.08311035484075546, 0.04403267428278923, 0.10030189156532288, 0.04686521366238594, 0.009659475646913052, 0.10904952138662338, 0.05042023956775665, 0.20168639719486237, 0.1731938123703003, 0.0561131127178669, 0.13295574486255646, 0.026309482753276825, 0.18379594385623932, 0.2280019074678421, 0.13892754912376404, 0.1507425159215927, 0.17336571216583252, 0.04349851235747337, 0.17958097159862518, 0.10396083444356918, 0.12895990908145905, 0.21353581547737122, 0.0516417995095253, 0.13467425107955933, 0.26662933826446533, 0.3020348846912384, 0.039018891751766205, 0.36017298698425293, 0.28229185938835144, 0.31938451528549194, 0.031412601470947266, 0.36458319425582886, 0.26761355996131897, 0.016550013795495033, 0.3331058621406555, 0.05582640320062637, 0.3184962868690491, 0.25699687004089355, 0.00015122683544177562, 1.95713437278755e-05, 0.022563783451914787, 0.010916813276708126, 0.015531249344348907, 0.039667751640081406, 0.045953910797834396], "count": [2223]}, "observation.state.tcp_pose": {"min": [0.36196228861808777, 0.19228114187717438, 0.8905200958251953, -1.3673291206359863, 1.1859815120697021, -1.7001837491989136, 0.2843080461025238, -0.21956026554107666, 0.892035722732544, -0.5465257167816162, 1.2190959453582764, 0.7036251425743103], "max": [0.4859294593334198, 0.31085479259490967, 1.0513873100280762, -0.9180055260658264, 1.8310573101043701, -1.2286040782928467, 0.5086910128593445, -0.005409712437540293, 1.051822543144226, 1.2594659328460693, 2.2177956104278564, 1.3536516427993774], "mean": [0.4398428499698639, 0.28735753893852234, 0.9282918572425842, -1.217779517173767, 1.572928547859192, -1.3737245798110962, 0.35301798582077026, -0.09928985685110092, 0.9229146838188171, 0.019739465788006783, 1.9553124904632568, 1.0136150121688843], "std": [0.01962938718497753, 0.020190969109535217, 0.02682638168334961, 0.08145305514335632, 0.14443065226078033, 0.13851559162139893, 0.0424281544983387, 0.04934493452310562, 0.025476180016994476, 0.2820800542831421, 0.1637887805700302, 0.12136562913656235], "count": [2223]}, "action.tcp_pose": {"min": [0.3617512881755829, 0.19243068993091583, 0.8906220197677612, -1.3668081760406494, 1.1833610534667969, -1.7079105377197266, 0.284329891204834, -0.21752116084098816, 0.8921165466308594, -0.5460330843925476, 1.2186129093170166, 0.7031628489494324], "max": [0.48541200160980225, 0.31101498007774353, 1.0517983436584473, -0.915145754814148, 1.8316484689712524, -1.2145980596542358, 0.5089132785797119, -0.005225098226219416, 1.051723599433899, 1.2672045230865479, 2.2189829349517822, 1.3563671112060547], "mean": [0.4398331642150879, 0.28742867708206177, 0.9282647371292114, -1.2177448272705078, 1.5727405548095703, -1.3734830617904663, 0.3530254065990448, -0.09934302419424057, 0.9229493141174316, 0.019064301624894142, 1.9548859596252441, 1.0134848356246948], "std": [0.019618337973952293, 0.020110109820961952, 0.026519745588302612, 0.08108381181955338, 0.14413683116436005, 0.13849055767059326, 0.04250878468155861, 0.04940175637602806, 0.025466790422797203, 0.2813413143157959, 0.16387757658958435, 0.1218654066324234], "count": [2223]}, "subtask_index": {"min": [949], "max": [986], "mean": [967.0395861448493], "std": [10.54968145803753], "count": [2223]}, "observation.tactile": {"min": [-0.025606296956539154, -3.52676106558647e-05, -7.962042582221329e-05, -0.0015390673652291298, -0.0003524395579006523, -0.0004506243858486414, -0.007575425319373608, -2.22709022636991e-05, -4.5930195483379066e-05, -0.001033360487781465, -1.0420471880934201e-05, -0.00014996988466009498, -0.018846780061721802, -3.638988346210681e-05, -8.063826680881903e-05, -0.0015769264427945018, -6.98845979059115e-05, -0.00042046423186548054, -0.6997924447059631, -0.05507596582174301, -7.419177563861012e-05, -0.0028200612869113684, -0.0008644674089737236, -0.010444005951285362, -0.002670550486072898, -5.659278031089343e-05, -0.0001287341001443565, -0.0015584726352244616, -0.0004646994057111442, -4.12222470913548e-05, -1.1728830337524414, -3.881896554958075e-05, -8.491106564179063e-05, -0.17657527327537537, -0.014346308074891567, -0.031871143728494644, -5.011082172393799, 0.0, 0.0, -0.37870651483535767, -0.02702820487320423, -0.09863537549972534, -0.002586738206446171, -5.601958037004806e-05, -0.00012460837024264038, -0.0023125645238906145, -8.859391527948901e-06, -8.40754946693778e-05, -0.011657197028398514, -3.976554216933437e-05, -8.613015234004706e-05, -0.0015525412745773792, -0.00014468986773863435, -0.0002488944446668029, -0.006533542647957802, -3.985859075328335e-05, -8.885520219337195e-05, -0.0010185521095991135, -3.970757097704336e-05, -0.00014224387996364385], "max": [0.00028263224521651864, 0.030687054619193077, 0.08902181684970856, 1.55369195908861e-06, 6.902438326505944e-05, 6.081165338400751e-06, 0.012741893529891968, 0.01963365264236927, 0.05730189383029938, 8.759362799537485e-07, 0.0002937131794169545, 0.00017327787645626813, 0.00028957301401533186, 0.025226611644029617, 0.0743112713098526, 1.51468418607692e-06, 9.4390801677946e-05, 6.073959866625955e-06, 0.04090072214603424, 0.07173895835876465, 0.18994687497615814, 1.333712020823441e-06, 0.00026358800823800266, 0.0005826791166327894, 0.6230657696723938, 0.11712046712636948, 0.09960004687309265, 2.4826535991451237e-06, 0.0001842599594965577, 0.009981632232666016, 6.467240810394287, 8.242875099182129, 8.030280113220215, 1.5717401993242675e-06, 0.027211414650082588, 0.12051883339881897, 4.212314605712891, 11.979228019714355, 18.871213912963867, 0.0, 0.017054680734872818, 0.08544645458459854, 0.050907284021377563, 0.04128533974289894, 0.13367989659309387, 2.2496158180729253e-06, 0.0007569573353976011, 0.0006524822674691677, 0.02015235833823681, 0.03754871338605881, 0.10975570976734161, 1.5969156947903684e-06, 0.00029807540704496205, 0.00029230702784843743, 0.00579254562035203, 0.015797782689332962, 0.04476165398955345, 1.6239469005085994e-06, 0.00012035824329359457, 8.144949242705479e-05], "mean": [-0.0030941457953304052, 0.003917632158845663, 0.011715080589056015, -0.00021883900626562536, -3.0636045266874135e-05, -5.070610859547742e-05, -0.00031551384017802775, 0.0017619904829189181, 0.005203772336244583, -9.142234193859622e-05, 9.372848580824211e-06, -8.021532266866416e-06, -0.00034475259599275887, 0.0007012034184299409, 0.0020737142767757177, -4.089058711542748e-05, -7.326492550419061e-07, -6.75388946547173e-06, -0.0606866218149662, 0.0004703070444520563, 0.021633487194776535, -0.00032945891143754125, -4.651426206692122e-05, -0.0009051079396158457, 0.04731207340955734, 0.007406550459563732, 0.010084024630486965, -0.00015760345559101552, -1.5835294107091613e-05, 0.0007504745735786855, 0.8483771681785583, 0.9863855838775635, 1.5328593254089355, -0.03143508732318878, 0.0027922671288251877, 0.016117673367261887, -0.377152681350708, 1.8283766508102417, 3.5609912872314453, -0.07260658591985703, -0.0031197236385196447, -0.00613004993647337, 0.0014051584294065833, 0.004579499829560518, 0.01350383460521698, -0.0002602790773380548, 5.707821765099652e-05, 4.13068391935667e-06, 0.0012489516520872712, 0.010484869591891766, 0.030671659857034683, -0.0004210889746900648, 1.128510575654218e-05, 1.8718956198426895e-05, -0.00028754080994986, 0.003482561092823744, 0.009959657676517963, -0.00021195661975070834, 2.2879685275256634e-05, -1.4604743228119332e-05], "std": [0.004407203756272793, 0.004000606015324593, 0.011899654753506184, 0.00023574067745357752, 5.4881904361536726e-05, 7.476630707969889e-05, 0.0013855694560334086, 0.0037203379906713963, 0.010913031175732613, 0.00019158092618454248, 2.8236430807737634e-05, 2.424582817184273e-05, 0.0019573955796658993, 0.002487730234861374, 0.007284445222467184, 0.00014751146954949945, 6.963048235775204e-06, 4.058550621266477e-05, 0.1404208391904831, 0.008364696986973286, 0.03653937205672264, 0.0005435295170173049, 0.0001444744411855936, 0.0021026430185884237, 0.12180520594120026, 0.01824088767170906, 0.020500633865594864, 0.0003126130613964051, 6.264971307246014e-05, 0.0019499236950650811, 1.6443030834197998, 1.6801279783248901, 2.4909632205963135, 0.05167515203356743, 0.00640886789187789, 0.03239976987242699, 1.2964751720428467, 2.984621286392212, 5.659234046936035, 0.1138615608215332, 0.0057914420031011105, 0.024561434984207153, 0.00407692464068532, 0.005501250736415386, 0.016599362716078758, 0.0003008549683727324, 9.194390440825373e-05, 4.761093441629782e-05, 0.0030145137570798397, 0.0063660722225904465, 0.018620824441313744, 0.0002695930015761405, 6.791517080273479e-05, 4.3145017116330564e-05, 0.0007079669740051031, 0.0025485847145318985, 0.00726935314014554, 0.00015708453429397196, 1.9983281163149513e-05, 1.5172775420069229e-05], "count": [2223]}, "timestamp": {"min": [0.0], "max": [74.06666666666666], "mean": [37.03333333333334], "std": [21.39082530916952], "count": [2223]}, "frame_index": {"min": [0], "max": [2222], "mean": [1111.0], "std": [641.7247592750857], "count": [2223]}, "episode_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [2223]}, "index": {"min": [52368], "max": [54590], "mean": [53479.0], "std": [641.7247592750857], "count": [2223]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2223]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5367486476898193]], [[0.536340057849884]], [[0.5386501550674438]]], "std": [[[0.3000207841396332]], [[0.3000478148460388]], [[0.3011292517185211]]], "count": [2223]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24404019117355347]], [[0.24363090097904205]], [[0.24362565577030182]]], "std": [[[0.15624836087226868]], [[0.1568002551794052]], [[0.1563352793455124]]], "count": [2223]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.1871659755706787]], [[0.18736134469509125]], [[0.18870767951011658]]], "std": [[[0.127052903175354]], [[0.1267087310552597]], [[0.13075293600559235]]], "count": [2223]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5393670797348022]], [[0.5391406416893005]], [[0.5416111350059509]]], "std": [[[0.3008914291858673]], [[0.30118975043296814]], [[0.3029731214046478]]], "count": [2223]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6352941393852234]], [[0.6352941393852234]], [[0.6352941393852234]]], "mean": [[[0.0012693296885117888]], [[0.0012693296885117888]], [[0.0012693296885117888]]], "std": [[[0.02171594649553299]], [[0.02171594649553299]], [[0.02171594649553299]]], "count": [2223]}, "observation.images.tactile_raw": {"min": [[[0.027450980618596077]], [[0.027450980618596077]], [[0.027450980618596077]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46774059534072876]], [[0.46774059534072876]], [[0.46774059534072876]]], "std": [[[0.2349940836429596]], [[0.2349940836429596]], [[0.2349940836429596]]], "count": [2223]}}}
+{"episode_index": 32, "stats": {"observation.state": {"min": [1.0345993041992188, -0.7800190448760986, -0.1550820916891098, 0.926331102848053, -0.21826305985450745, -0.7700463533401489, 0.4167015552520752, 0.00621023029088974, -0.18352319300174713, -0.001115588704124093, 0.000872204836923629, 0.003080796916037798, -0.16870085895061493, 4.34207177022472e-05, 0.00344706024043262, 0.0008438337245024741, -0.17394493520259857, -0.00040525675285607576, 0.00346975214779377, 0.0008354087476618588, -0.17320163547992706, -0.01683640480041504, 0.0068122162483632565, 0.0008012651815079153, 0.01301971822977066, -0.13979721069335938, -0.0381767712533474, 0.0034810982178896666, 0.0008699956815689802, 1.0493749380111694, -0.7799407243728638, -0.23136216402053833, 0.8905187249183655, -1.3608704805374146, -0.7698664665222168, -0.3250958323478699, 0.007330788765102625, -0.27559447288513184, 0.0030524323228746653, -0.31044691801071167, 0.003492798889055848, 0.005163373425602913, -0.08216332644224167, 0.003109516343101859, 0.0007768769282847643, 0.003699092660099268, -0.04307471960783005, 0.0026840409263968468, 0.0008580232970416546, -0.0004126189451199025, -0.030252881348133087, 0.0034913807176053524, 0.0008451640023849905, 0.005438440479338169, -0.054705798625946045, -0.03689819574356079, 0.0034825163893401623, 0.000868221977725625, 0.561053454875946, -1.107150673866272, 0.5441796779632568, -0.03183010220527649, -0.03163835406303406, -0.0001917476038215682, -0.8729309439659119], "max": [1.2121421098709106, -0.5407353639602661, 6.950850547582377e-06, 1.5700085163116455, 3.775030927499756e-05, -0.11393870413303375, 0.6981576681137085, 1.1830439567565918, 0.00010406996443634853, 0.10541120916604996, 0.3144950568675995, 0.47962498664855957, 0.6059459447860718, 0.08439397066831589, 0.09264479577541351, 0.28587695956230164, 0.30778247117996216, 0.10057537257671356, 0.15856051445007324, 0.0017222545575350523, 0.21053403615951538, 0.1445123702287674, 0.3367471396923065, 0.34138596057891846, 0.013669420033693314, 0.20027892291545868, 0.045375026762485504, 0.4258388578891754, 0.3674197494983673, 1.318104863166809, -0.21212518215179443, -0.00017185378237627447, 1.5845979452133179, 0.1352689415216446, -0.10269450396299362, 0.6949002146720886, 1.4752787351608276, 0.00014671011012978852, 0.8388800621032715, 0.3148941397666931, 0.3718651831150055, 1.152612566947937, 0.2565595805644989, 0.3161516487598419, 0.879572331905365, 1.4687824249267578, 0.20899978280067444, 1.6556668281555176, 1.3082430362701416, 1.4684510231018066, 0.18269063532352448, 1.654842734336853, 1.3081910610198975, 0.05362338945269585, 1.4686254262924194, 0.2807898223400116, 1.6555373668670654, 1.3081848621368408, 0.5627791881561279, -1.1060960292816162, 0.6982488632202148, 0.0, 0.025502430275082588, 0.20727916061878204, -0.5997864603996277], "mean": [1.140150785446167, -0.690808892250061, -0.14244544506072998, 1.1094485521316528, -0.16240134835243225, -0.2284131646156311, 0.47623640298843384, 1.1414704322814941, -0.1720224767923355, 0.08329062163829803, 0.3000865578651428, 0.4652823507785797, 0.3595585525035858, 0.052434634417295456, 0.07904142141342163, 0.27334386110305786, 0.09141050279140472, 0.07748030871152878, 0.05446262285113335, 0.0015684058889746666, 0.09872082620859146, 0.09747937321662903, 0.22915828227996826, 0.3266436457633972, 0.01329902745783329, 0.08431146293878555, 0.004772973712533712, 0.1460248827934265, 0.12636181712150574, 1.118541955947876, -0.5861890912055969, -0.21901531517505646, 1.321040391921997, -1.199058175086975, -0.3397233188152313, 0.15379557013511658, 1.2894514799118042, -0.17307280004024506, 0.5734352469444275, -0.05338564142584801, 0.05942002311348915, 0.8941595554351807, 0.13494379818439484, 0.04047509282827377, 0.5050534605979919, 1.364665150642395, 0.1634754240512848, 1.5218422412872314, 1.183475375175476, 1.2920255661010742, 0.1404438018798828, 1.522821068763733, 1.2047779560089111, 0.04888952150940895, 1.345072865486145, 0.23176489770412445, 1.540295124053955, 1.2172881364822388, 0.5613670349121094, -1.1068516969680786, 0.6728981137275696, -0.02256464585661888, 0.007762615103274584, 0.17725908756256104, -0.8571068048477173], "std": [0.023462045937776566, 0.024970803409814835, 0.023188436403870583, 0.07276168465614319, 0.02621498890221119, 0.10645741969347, 0.05976546183228493, 0.17514771223068237, 0.02796316146850586, 0.020679408684372902, 0.04828416928648949, 0.07527486979961395, 0.2446010708808899, 0.017989926040172577, 0.028411919251084328, 0.044794220477342606, 0.10234937071800232, 0.018425362184643745, 0.030788604170084, 0.0001721705193631351, 0.10243641585111618, 0.04383668676018715, 0.09699530899524689, 0.05390322208404541, 0.00013489907723851502, 0.09271379560232162, 0.028637979179620743, 0.14030440151691437, 0.12075208127498627, 0.04121071845293045, 0.12763361632823944, 0.03358642756938934, 0.18505212664604187, 0.31419500708580017, 0.1308036744594574, 0.2475251406431198, 0.20139236748218536, 0.04929115250706673, 0.18542036414146423, 0.1364765614271164, 0.09421449899673462, 0.23303396999835968, 0.06368013471364975, 0.03250473365187645, 0.2312719225883484, 0.35257047414779663, 0.050488006323575974, 0.44105958938598633, 0.34413474798202515, 0.3583640456199646, 0.044528767466545105, 0.4380865693092346, 0.34532493352890015, 0.012790110893547535, 0.40020930767059326, 0.0713411495089531, 0.4062081575393677, 0.3202081620693207, 0.0001825690414989367, 9.547544323140755e-05, 0.024456871673464775, 0.008944583125412464, 0.010989375412464142, 0.03849485516548157, 0.05555703118443489], "count": [1398]}, "observation.state.joint_torque": {"min": [-41.79600143432617, -4.6020002365112305, -19.469999313354492, -7.484000205993652, -0.7487999796867371, -0.7071999907493591, 0.6320000290870667, -0.8952898383140564, -0.6558666825294495, -0.4361840486526489, -0.5542395710945129, -0.11621791869401932, -0.3482855260372162, -0.18805499374866486, -0.08301279693841934, -0.03424813970923424, -0.33293411135673523, -0.25233909487724304, -0.05644870921969414, -0.03567514568567276, -0.41544800996780396, -0.44423195719718933, -0.12617947161197662, -0.04851820319890976, -0.0021990055684000254, -0.3597990870475769, -0.4950835406780243, -0.11621791869401932, -0.03567514568567276, -2.946000099182129, -12.181500434875488, -13.553000450134277, -10.798999786376953, -3.108799934387207, -6.193600177764893, -3.08240008354187, -1.9064706563949585, -0.7055342197418213, -0.528143048286438, -1.1730989217758179, -0.1328205019235611, -0.7973148226737976, -0.9748156070709229, -0.441628098487854, -0.21333740651607513, -0.555529773235321, -0.3079880177974701, -0.5096986293792725, -0.06278826296329498, -0.7531794309616089, -0.3003123104572296, -0.6541408896446228, -0.09346889704465866, -0.1323801428079605, -1.2482630014419556, -0.3818667531013489, -0.09463459998369217, -0.07277730107307434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-12.64050006866455, 15.972000122070312, -3.505000114440918, 3.7730000019073486, 1.8688000440597534, 2.078399896621704, 3.65120005607605, 1.4047008752822876, 0.3183818757534027, 0.461037814617157, 0.7046049237251282, 0.12783971428871155, 0.35596123337745667, 0.30415016412734985, 0.10957689583301544, 0.03424813970923424, 0.3952992558479309, 0.28496089577674866, 0.10459613054990768, 0.0007135029300116003, 0.5142728090286255, 0.5315431952476501, 0.13116022944450378, 0.04281017929315567, 0.001759204315021634, 0.45094820857048035, 0.2648121416568756, 0.12949997186660767, 0.045664187520742416, 44.2755012512207, 13.867500305175781, 20.634000778198242, 6.098999977111816, 0.7784000039100647, 2.4951999187469482, 7.8480000495910645, 2.494840383529663, 4.3389081954956055, 1.7198823690414429, 2.197075128555298, 0.38351914286613464, 2.1472809314727783, 2.1396052837371826, 1.0575830936431885, 0.21476440131664276, 0.2859203517436981, 0.22163623571395874, 0.15772433578968048, 0.07563132047653198, 0.40585339069366455, 0.23794713616371155, 0.09629485011100769, 0.08205283433198929, 0.12270450592041016, 0.36843425035476685, 0.3885830044746399, 0.12617947161197662, 0.06278826296329498, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.865036010742188, 4.366036891937256, -11.807019233703613, -2.5827229022979736, 0.15874092280864716, 0.2941608428955078, 2.0327210426330566, 0.0060506234876811504, -0.022134605795145035, 0.021687520667910576, 0.01236650999635458, -5.344294913811609e-05, 0.04967256635427475, -0.006880964618176222, 0.0014536178205162287, -0.0024727622512727976, 0.05569284036755562, -0.04701646417379379, 0.0048489500768482685, -0.0008610001532360911, 0.10083027184009552, 0.11665936559438705, 0.015348417684435844, 0.0012009138008579612, -7.864829058235046e-06, 0.04078550264239311, -0.00801540445536375, 0.010719187557697296, 0.004359619691967964, 22.871662139892578, 1.9330651760101318, 10.14670467376709, -4.633591175079346, -0.46670588850975037, 0.9976261854171753, -0.8894961476325989, 0.015155678614974022, 0.8653286099433899, 0.39371365308761597, 0.3763895630836487, 0.003535463707521558, 0.863076388835907, 0.005806890316307545, 0.4228443503379822, 0.08085312694311142, 0.005797235295176506, -0.010870484635233879, 0.0002220786118414253, 0.0014458895893767476, 0.01562800072133541, -0.00036854296922683716, -0.00014251205720938742, -0.0011248639784753323, 0.0003432246157899499, 0.022303063422441483, -0.013483953662216663, 0.0008728821412660182, 0.0016582070384174585, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.3218053579330444, 1.084046721458435, 0.7163742184638977, 0.7112099528312683, 0.24803149700164795, 0.3137151896953583, 0.26685166358947754, 0.11518989503383636, 0.07813835889101028, 0.0719529464840889, 0.08589766174554825, 0.012242472730576992, 0.06806378811597824, 0.04945048317313194, 0.013131818734109402, 0.006859784945845604, 0.06384532898664474, 0.0505637489259243, 0.012276743538677692, 0.0038596054073423147, 0.13900229334831238, 0.13566382229328156, 0.030496828258037567, 0.0060821278020739555, 0.0003323965647723526, 0.09734106808900833, 0.07641758769750595, 0.018693726509809494, 0.010645003989338875, 4.361824035644531, 2.297548532485962, 2.963325023651123, 1.699459433555603, 0.477842777967453, 1.0125118494033813, 0.9919477701187134, 0.7364320755004883, 1.1565781831741333, 0.5265647768974304, 0.6401782631874084, 0.04790504276752472, 1.0176348686218262, 0.28216561675071716, 0.506848156452179, 0.11231417208909988, 0.054242704063653946, 0.06132808327674866, 0.016299182549118996, 0.008607467636466026, 0.10203293710947037, 0.06629692018032074, 0.020017489790916443, 0.00788598321378231, 0.015773974359035492, 0.07567205280065536, 0.10512221604585648, 0.01529351994395256, 0.005499215796589851, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1398]}, "observation.state.tcp": {"min": [0.36176595091819763, 0.19216400384902954, 0.920227587223053, -1.2104443311691284, 1.1995881795883179, -1.3457467555999756, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.32238686084747314, -0.2371438443660736, 0.9027977585792542, -0.5964307188987732, 1.2180651426315308, 0.5199757814407349, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4878932535648346, 0.27564361691474915, 1.0518137216567993, -0.7524168491363525, 1.670633316040039, -1.174150824546814, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5211200714111328, 0.00407417444512248, 1.051808476448059, 1.2744544744491577, 2.2071585655212402, 1.4902783632278442, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4446812868118286, 0.2602986693382263, 0.943730890750885, -1.0731868743896484, 1.566239356994629, -1.275839924812317, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.375092089176178, -0.11745642870664597, 0.9341899752616882, -0.11630100756883621, 1.9356474876403809, 0.9953989386558533, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.014731837436556816, 0.013916010037064552, 0.022114111110568047, 0.06908959150314331, 0.10014653205871582, 0.02574913576245308, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03589775785803795, 0.04550093784928322, 0.02781694382429123, 0.3702440857887268, 0.18800586462020874, 0.19550077617168427, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1398]}, "action": {"min": [1.0344557762145996, -0.7799999713897705, -0.1551261842250824, 0.9263036847114563, -0.2182120978832245, -0.7699999809265137, 0.41672375798225403, 0.0, -0.1858883500099182, 0.0, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.1745329201221466, -0.024341411888599396, 0.0, 0.0, 0.0, -0.15141911804676056, -0.15683895349502563, 0.0, 0.0, 1.0493595600128174, -0.7798195481300354, -0.2313470095396042, 0.8885384202003479, -1.3608535528182983, -0.7696420550346375, -0.32560965418815613, 0.0, -0.2754262387752533, 0.0, -0.3205910325050354, -0.1745329201221466, 0.0, -0.08205730468034744, 0.0, 0.0, 0.0, -0.059335239231586456, 0.0, 0.0, 0.0, -0.06882674247026443, 0.0, 0.0, 0.0, -0.057466864585876465, -0.11772257834672928, 0.0, 0.0, 0.5613411068916321, -1.1069588661193848, 0.5442397594451904, -0.033000342547893524, -0.04194576293230057, 0.0, -0.8726646304130554], "max": [1.2121413946151733, -0.5384834408760071, 0.0, 1.5700000524520874, 0.0, -0.11371573060750961, 0.7552478313446045, 1.1902731657028198, 0.0, 0.1101679876446724, 0.32348889112472534, 0.4822549521923065, 0.6126041412353516, 0.08284562081098557, 0.09964104741811752, 0.28790897130966187, 0.31502965092658997, 0.09713070839643478, 0.1633177250623703, 0.0, 0.21687327325344086, 0.1483275294303894, 0.34217575192451477, 0.3442254960536957, 0.023105572909116745, 0.20695726573467255, 0.04372899979352951, 0.4326016902923584, 0.3708014488220215, 1.318345308303833, -0.21209046244621277, -0.00024667917750775814, 1.584626317024231, 0.1353767365217209, -0.10258461534976959, 0.696692943572998, 1.4811490774154663, 0.0, 0.8390364646911621, 0.3490658402442932, 0.37405726313591003, 1.1812611818313599, 0.23068302869796753, 0.32441797852516174, 0.9057197570800781, 1.5707963705062866, 0.2161102294921875, 1.7453292608261108, 1.3962633609771729, 1.5623592138290405, 0.1903201937675476, 1.7453292608261108, 1.3962633609771729, 0.07059954851865768, 1.5707963705062866, 0.28628963232040405, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863260269165, 0.6985354423522949, 0.0, 0.025958174839615822, 0.20734737813472748, -0.5998095273971558], "mean": [1.1400455236434937, -0.6907146573066711, -0.14244306087493896, 1.1092426776885986, -0.16241766512393951, -0.22829754650592804, 0.47668296098709106, 1.149633526802063, -0.17433249950408936, 0.08454911410808563, 0.30366259813308716, 0.4677683413028717, 0.36397886276245117, 0.05208609998226166, 0.07965267449617386, 0.27644237875938416, 0.09600920975208282, 0.07827207446098328, 0.058735281229019165, 0.0, 0.10267283022403717, 0.09882789105176926, 0.23175545036792755, 0.32927799224853516, 0.014560408890247345, 0.08760590106248856, -0.007926982827484608, 0.148567795753479, 0.12714624404907227, 1.1185173988342285, -0.5863659977912903, -0.21904832124710083, 1.3208423852920532, -1.2003899812698364, -0.3397715091705322, 0.15447482466697693, 1.2892265319824219, -0.17054623365402222, 0.5772716403007507, -0.04859020188450813, -0.019572943449020386, 0.9236932992935181, 0.14207354187965393, 0.04888904467225075, 0.5700113773345947, 1.4488402605056763, 0.16423901915550232, 1.605979561805725, 1.2118704319000244, 1.2970161437988281, 0.1401415318250656, 1.610630750656128, 1.2645978927612305, 0.05843682959675789, 1.442909836769104, 0.2299564629793167, 1.6218715906143188, 1.2974692583084106, 0.5613726377487183, -1.1069426536560059, 0.6729368567466736, -0.022606000304222107, 0.007788471877574921, 0.17729048430919647, -0.8570790886878967], "std": [0.023274565115571022, 0.02521069347858429, 0.02320152521133423, 0.07310283184051514, 0.026220552623271942, 0.10647627711296082, 0.06151151284575462, 0.18912969529628754, 0.030837133526802063, 0.021187661215662956, 0.05353548005223274, 0.08232355117797852, 0.25020888447761536, 0.018595518544316292, 0.03026612102985382, 0.048754267394542694, 0.10632260143756866, 0.01929553598165512, 0.033098358660936356, 0.0, 0.10638891905546188, 0.04437841847538948, 0.10204419493675232, 0.058296915143728256, 0.007341595832258463, 0.0965670570731163, 0.05564297363162041, 0.1418743133544922, 0.12181075662374496, 0.04081207141280174, 0.12751923501491547, 0.033582620322704315, 0.1852658987045288, 0.31177589297294617, 0.1311081051826477, 0.24825052917003632, 0.2157030999660492, 0.051688216626644135, 0.1912831813097, 0.14207972586154938, 0.1524258404970169, 0.2560521960258484, 0.06330155581235886, 0.03589211404323578, 0.27770793437957764, 0.38143986463546753, 0.051612090319395065, 0.4660341441631317, 0.35544413328170776, 0.36512309312820435, 0.047780852764844894, 0.4612330198287964, 0.3651617765426636, 0.01743619330227375, 0.4286496341228485, 0.07958721369504929, 0.4369935393333435, 0.34960877895355225, 0.0001884076773421839, 1.6815887647680938e-05, 0.02478617988526821, 0.008986074477434158, 0.011181815527379513, 0.038674112409353256, 0.055695343762636185], "count": [1398]}, "observation.state.tcp_pose": {"min": [0.36176595091819763, 0.19216400384902954, 0.920227587223053, -1.2104443311691284, 1.1995881795883179, -1.3457467555999756, 0.32238686084747314, -0.2371438443660736, 0.9027977585792542, -0.5964307188987732, 1.2180651426315308, 0.5199757814407349], "max": [0.4878932535648346, 0.27564361691474915, 1.0518137216567993, -0.7524168491363525, 1.670633316040039, -1.174150824546814, 0.5211200714111328, 0.00407417444512248, 1.051808476448059, 1.2744544744491577, 2.2071585655212402, 1.4902783632278442], "mean": [0.4446812868118286, 0.2602986693382263, 0.943730890750885, -1.0731868743896484, 1.566239356994629, -1.275839924812317, 0.375092089176178, -0.11745642870664597, 0.9341899752616882, -0.11630100756883621, 1.9356474876403809, 0.9953989386558533], "std": [0.014731837436556816, 0.013916010037064552, 0.022114111110568047, 0.06908959150314331, 0.10014653205871582, 0.02574913576245308, 0.03589775785803795, 0.04550093784928322, 0.02781694382429123, 0.3702440857887268, 0.18800586462020874, 0.19550077617168427], "count": [1398]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.1924280971288681, 0.9213031530380249, -1.208855390548706, 1.1732429265975952, -1.3552190065383911, 0.32221654057502747, -0.23698721826076508, 0.9031072854995728, -0.5951801538467407, 1.2183177471160889, 0.5196854472160339], "max": [0.48477062582969666, 0.2758941352367401, 1.0518032312393188, -0.7104952335357666, 1.670594334602356, -1.2020379304885864, 0.5215686559677124, 0.004453074652701616, 1.0516935586929321, 1.2762950658798218, 2.2069003582000732, 1.4912062883377075], "mean": [0.44464099407196045, 0.2603190541267395, 0.9436874985694885, -1.0729091167449951, 1.566001296043396, -1.2760313749313354, 0.37504932284355164, -0.11752977222204208, 0.9341641068458557, -0.11810530722141266, 1.935398817062378, 0.9952728748321533], "std": [0.014721797779202461, 0.013917616568505764, 0.021740803495049477, 0.0701129287481308, 0.10038851201534271, 0.025606999173760414, 0.035837557166814804, 0.04550852254033089, 0.027638547122478485, 0.3690549433231354, 0.18772611021995544, 0.19563855230808258], "count": [1398]}, "subtask_index": {"min": [64], "max": [1016], "mean": [999.3912732474964], "std": [44.24343321975883], "count": [1398]}, "observation.tactile": {"min": [-0.04321173578500748, -3.48320827470161e-05, -7.742227899143472e-05, -0.0014261577744036913, -0.0003076381981372833, -0.0006926787900738418, -0.01143820770084858, -2.2549706045538187e-05, -4.757009810418822e-05, -0.0012859958223998547, -3.2538038794882596e-05, -0.00024247913097497076, -0.01761508733034134, -3.507647488731891e-05, -7.931271102279425e-05, -0.0013989836443215609, -1.0260881026624702e-05, -0.0003687914868351072, -0.31435391306877136, -3.625642784754746e-05, -8.001896640053019e-05, -0.0013263127766549587, -0.00023300506290979683, -0.004174888599663973, -0.0014909009914845228, -5.8599147450877354e-05, -0.00013343598402570933, -0.0005043603014200926, -2.110596824422828e-06, -3.913992622983642e-05, -1.5616567134857178, -3.8346934161381796e-05, -8.500587136950344e-05, -0.2449977844953537, -0.021989086642861366, -0.02264786697924137, -6.878011703491211, 0.0, 0.0, -0.39135751128196716, -0.03928740322589874, -0.11910305172204971, -0.002151257824152708, -4.718685522675514e-05, -0.00010547292185947299, -0.0020109619945287704, -5.066884477855638e-05, -5.5385367886628956e-05, -0.00961376167833805, -4.283009184291586e-05, -9.37564909690991e-05, -0.001786156091839075, -8.092573989415541e-05, -0.00018745430861599743, -0.00848260335624218, -4.392660775920376e-05, -9.7028081654571e-05, -0.0010634342906996608, -7.272014045156538e-05, -0.00015725467528682202], "max": [0.00027146333013661206, 0.024973411113023758, 0.07697153091430664, 1.4814622772973962e-06, 5.957179018878378e-05, 5.784055701951729e-06, 0.009982001036405563, 0.02055075392127037, 0.059903256595134735, 9.066447432815039e-07, 0.000169860984897241, 0.00013398737064562738, 0.00951104611158371, 0.02355499006807804, 0.07194525003433228, 1.5189734767773189e-06, 0.00011379040370229632, 0.0001468903210479766, 0.0008257240988314152, 0.040875356644392014, 0.09781569242477417, 1.4517631825583521e-06, 0.00010336271952837706, 5.974494342808612e-06, 0.0012545401696115732, 0.007675031665712595, 0.02279835380613804, 2.5512906631774968e-06, 6.259082147153094e-05, 2.212806066381745e-05, 7.925804615020752, 10.5095796585083, 10.33472728729248, 1.547107217447774e-06, 0.040715333074331284, 0.1571829617023468, 7.049503326416016, 17.30643653869629, 26.03301429748535, 0.0, 0.012454659678041935, 0.1330065131187439, 0.05990593880414963, 0.0374307706952095, 0.11633574217557907, 1.9667643300635973e-06, 0.0004994842456653714, 0.0008776839822530746, 0.034066036343574524, 0.032049961388111115, 0.10031527280807495, 1.7279778603551676e-06, 0.0004985761479474604, 0.0005309998523443937, 0.007055625319480896, 0.018426677212119102, 0.05265415832400322, 1.8297196220373735e-06, 0.00022914820874575526, 8.885165880201384e-05], "mean": [-0.0027260284405201674, 0.0027314298786222935, 0.008252847008407116, -0.00015695454203523695, -3.398519038455561e-05, -4.029403135064058e-05, -0.00014887354336678982, 0.0008229094091802835, 0.002398712793365121, -4.7446890675928444e-05, 2.246765006930218e-06, -3.697601187013788e-06, -0.0004918912309221923, 0.0014180666767060757, 0.004080135840922594, -7.126721902750432e-05, 4.7964026634872425e-06, -1.0157937140320428e-05, -0.0077094123698771, 0.003939011599868536, 0.01076449267566204, -0.00016096564650069922, -1.3388228580879513e-05, -9.70927721937187e-05, 0.00023614511883351952, 0.0009120165486820042, 0.0026816208846867085, -5.842628161190078e-05, 4.395084943098482e-06, 2.8654837933572708e-06, 1.6985602378845215, 1.9116476774215698, 2.4969537258148193, -0.04936628043651581, 0.005239409860223532, 0.03462718054652214, 0.11686103045940399, 3.102564811706543, 6.39058256149292, -0.12068791687488556, -0.0051618595607578754, 0.004516209475696087, 0.0014908842276781797, 0.0031874149572104216, 0.009477364830672741, -0.0001876284513855353, 3.224749889341183e-05, 1.569550295243971e-05, 0.0006724423728883266, 0.003339610295370221, 0.00990859605371952, -0.00016089538985397667, 2.8250078685232438e-05, 3.2017603643907933e-06, -0.0010124084074050188, 0.0029251384548842907, 0.008383176289498806, -0.00016639033856336027, -3.270155048085144e-06, -1.7819505956140347e-05], "std": [0.004779157694429159, 0.004109002649784088, 0.012412436306476593, 0.00023447621788363904, 5.2621093345806e-05, 7.322374585783109e-05, 0.0011897049844264984, 0.0025083001237362623, 0.007280443795025349, 0.0001468858536100015, 1.4723736057931092e-05, 2.3402422812068835e-05, 0.0018414384685456753, 0.0033899149857461452, 0.00973318237811327, 0.00018417942919768393, 1.4772179383726325e-05, 3.939396992791444e-05, 0.021139508113265038, 0.006879807449877262, 0.01803070493042469, 0.00024523481260985136, 4.385175634524785e-05, 0.0002663817722350359, 0.0002592095697764307, 0.001497376593761146, 0.004325765185058117, 9.45144856814295e-05, 9.622221114113927e-06, 7.585212642879924e-06, 2.558556079864502, 2.40543794631958, 2.963369131088257, 0.058933183550834656, 0.011485252529382706, 0.051499415189027786, 2.520416736602783, 3.649944543838501, 7.338690757751465, 0.1348896473646164, 0.009998087771236897, 0.044766079634428024, 0.005775114521384239, 0.004735903814435005, 0.014365984126925468, 0.00026897183852270246, 6.341635889839381e-05, 8.49444986670278e-05, 0.0034811801742762327, 0.004575022496283054, 0.013904047198593616, 0.00023567641619592905, 6.559941539308056e-05, 4.896102473139763e-05, 0.0015839269617572427, 0.0035467478446662426, 0.01015141699463129, 0.00021503042080439627, 2.0739762476296164e-05, 2.8312031645327806e-05], "count": [1398]}, "timestamp": {"min": [0.0], "max": [46.56666666666667], "mean": [23.28333333333333], "std": [13.45225783059263], "count": [1398]}, "frame_index": {"min": [0], "max": [1397], "mean": [698.5], "std": [403.5677349177789], "count": [1398]}, "episode_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1398]}, "index": {"min": [54591], "max": [55988], "mean": [55289.5], "std": [403.5677349177789], "count": [1398]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1398]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5369083285331726]], [[0.5365839004516602]], [[0.5385600924491882]]], "std": [[[0.2997184097766876]], [[0.29977545142173767]], [[0.3008715808391571]]], "count": [1398]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24394163489341736]], [[0.24354876577854156]], [[0.24327872693538666]]], "std": [[[0.15511389076709747]], [[0.15557774901390076]], [[0.15519925951957703]]], "count": [1398]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.18711063265800476]], [[0.1872527301311493]], [[0.18764656782150269]]], "std": [[[0.1247440055012703]], [[0.12442859262228012]], [[0.1276860386133194]]], "count": [1398]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5397049188613892]], [[0.539637565612793]], [[0.5418347716331482]]], "std": [[[0.3006094992160797]], [[0.3009229600429535]], [[0.30253586173057556]]], "count": [1398]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6235294342041016]], [[0.6235294342041016]], [[0.6235294342041016]]], "mean": [[[0.002433209912851453]], [[0.002433209912851453]], [[0.002433209912851453]]], "std": [[[0.030563507229089737]], [[0.030563507229089737]], [[0.030563507229089737]]], "count": [1398]}, "observation.images.tactile_raw": {"min": [[[0.0313725508749485]], [[0.0313725508749485]], [[0.0313725508749485]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46764546632766724]], [[0.46764546632766724]], [[0.46764546632766724]]], "std": [[[0.2349132001399994]], [[0.2349132001399994]], [[0.2349132001399994]]], "count": [1398]}}}
+{"episode_index": 33, "stats": {"observation.state": {"min": [1.0499836206436157, -0.7800257802009583, -0.1657772958278656, 1.02725350856781, -0.1615617275238037, -0.7700446844100952, 0.4602334201335907, 0.006244739517569542, -0.21713997423648834, -0.0011055503273382783, 0.0054321023635566235, 0.0030974613036960363, -0.13587191700935364, -0.025201117619872093, 0.0034442238975316286, 0.000859353574924171, -0.17572468519210815, 0.0010094677563756704, 0.0034548607654869556, 0.0007901795324869454, -0.15924203395843506, -0.0017588973278179765, 0.0030857606325298548, 0.0008336350438185036, 0.013076446019113064, -0.14355148375034332, -0.038095083087682724, 0.003551301546394825, 0.0008518153917975724, 1.050047516822815, -0.7906997203826904, -0.23145721852779388, 1.0326846837997437, -1.3925024271011353, -0.7697080969810486, -0.2536247670650482, 0.006568151526153088, -0.27022799849510193, 0.003127057570964098, -0.2622135281562805, 0.0034899625461548567, 0.005053963046520948, -0.08571229130029678, 0.002878695959225297, 0.0007414030260406435, 0.003796237288042903, -0.02349226549267769, 0.0026921958196908236, 0.0008793076267465949, -0.0019563804380595684, -0.033423323184251785, 0.0035282550379633904, 0.0008473811321891844, 0.005710308905690908, -0.05347677692770958, -0.037288740277290344, 0.0034988264087587595, 0.0008744299411773682, 0.561053454875946, -1.1070547103881836, 0.5441796779632568, -0.0517718531191349, -0.038061898201704025, -0.0001917476038215682, -0.8729309439659119], "max": [1.2839844226837158, -0.5785186290740967, 6.591323653992731e-06, 1.5700008869171143, 3.9428101445082575e-05, -0.1852763444185257, 0.6981720328330994, 1.1882975101470947, -1.8248283595312387e-05, 0.15077096223831177, 0.31431815028190613, 0.47961506247520447, 0.678472101688385, 0.11808934062719345, 0.16864676773548126, 0.29806265234947205, 0.4971672296524048, 0.1595393717288971, 0.10405214875936508, 0.031561512500047684, 0.16728097200393677, 0.15662133693695068, 0.3245757222175598, 0.32989996671676636, 0.014444352127611637, 0.16293597221374512, 0.044748254120349884, 0.10078520327806473, 0.09169231355190277, 1.3802212476730347, -0.23740988969802856, -0.00016993630561046302, 1.6831656694412231, 0.2618566155433655, -0.014898668974637985, 0.5269035696983337, 1.5317999124526978, 0.00021374068455770612, 0.7634391784667969, 0.31516629457473755, 0.47257912158966064, 1.1222888231277466, 0.2941174805164337, 0.7503542900085449, 1.1444274187088013, 1.4688655138015747, 0.2893606424331665, 1.6556774377822876, 1.3082026243209839, 1.4684218168258667, 0.2612973749637604, 1.6548442840576172, 1.308220386505127, 0.06940031796693802, 1.468613862991333, 0.307481974363327, 1.6553250551223755, 1.3081649541854858, 0.5627791881561279, -1.105904221534729, 0.7503083348274231, 0.0, 0.05253884196281433, 0.258859246969223, -0.5997864603996277], "mean": [1.2467854022979736, -0.7401139736175537, -0.15331512689590454, 1.1480169296264648, -0.15745487809181213, -0.3041565418243408, 0.5078531503677368, 1.153019905090332, -0.1903352588415146, 0.1250210404396057, 0.2922188937664032, 0.4693443477153778, 0.5120465755462646, 0.10517832636833191, 0.13767598569393158, 0.28585085272789, 0.36601632833480835, 0.13797348737716675, 0.06394091248512268, 0.020564600825309753, 0.08508264273405075, 0.12486381828784943, 0.27003225684165955, 0.319929838180542, 0.013402328826487064, 0.10871055722236633, 0.018339848145842552, 0.053846921771764755, 0.047087162733078, 1.1374989748001099, -0.5677555203437805, -0.2206575870513916, 1.3713027238845825, -1.0507657527923584, -0.44347989559173584, 0.04182115197181702, 1.3424853086471558, -0.1781146377325058, 0.4733237028121948, -0.060830265283584595, 0.16076184809207916, 0.8853095173835754, 0.2006986290216446, 0.09048795700073242, 0.587286114692688, 1.379920482635498, 0.2023812085390091, 1.5482125282287598, 1.1117173433303833, 1.3618649244308472, 0.16555778682231903, 1.5469090938568115, 1.2191201448440552, 0.0607898011803627, 1.369787335395813, 0.25598567724227905, 1.564916968345642, 1.236344575881958, 0.5613567233085632, -1.1068476438522339, 0.7148399949073792, -0.040669649839401245, 0.012565159238874912, 0.2153281569480896, -0.8620833158493042], "std": [0.034997664391994476, 0.022063875570893288, 0.02193969115614891, 0.055827416479587555, 0.020442107692360878, 0.08495055139064789, 0.06129412353038788, 0.14881961047649384, 0.027668140828609467, 0.0323447547852993, 0.03918328508734703, 0.06346568465232849, 0.2260575294494629, 0.022406335920095444, 0.0467405840754509, 0.03967730700969696, 0.1987864375114441, 0.032689210027456284, 0.03349786624312401, 0.006843349430710077, 0.08319909125566483, 0.040067315101623535, 0.09208619594573975, 0.04384782910346985, 0.00016636955842841417, 0.0806475430727005, 0.027169933542609215, 0.0392489954829216, 0.03503698110580444, 0.05886692926287651, 0.11880450695753098, 0.03519017621874809, 0.17397016286849976, 0.2709183990955353, 0.13517054915428162, 0.1643267273902893, 0.1927519589662552, 0.0400802306830883, 0.15665863454341888, 0.10362153500318527, 0.11940139532089233, 0.21088333427906036, 0.0740521028637886, 0.13157260417938232, 0.26621708273887634, 0.3244236707687378, 0.06160881370306015, 0.39947494864463806, 0.29462793469429016, 0.3421925902366638, 0.05694999918341637, 0.4002043306827545, 0.3136999309062958, 0.01595422253012657, 0.3614908754825592, 0.07310903817415237, 0.35504668951034546, 0.27990812063217163, 0.0001473266602260992, 9.108993981499225e-05, 0.027041006833314896, 0.01033351756632328, 0.015263750217854977, 0.043576307594776154, 0.04424870014190674], "count": [1811]}, "observation.state.joint_torque": {"min": [-44.46900177001953, -5.767499923706055, -20.475000381469727, -9.126999855041504, -0.2784000039100647, -0.5135999917984009, 0.5871999859809875, -0.928401529788971, -0.6545931100845337, -0.4063594937324524, -0.5865494608879089, -0.1328205019235611, -0.3665153384208679, -0.41065070033073425, -0.1959102302789688, -0.032821137458086014, -0.5286648273468018, -0.23506873846054077, -0.13780125975608826, -0.03424813970923424, -0.471096932888031, -0.6121382117271423, -0.12119869887828827, -0.04066966846585274, -0.004837812390178442, -0.621732771396637, -0.7858012318611145, -0.17266662418842316, -0.03781566023826599, -9.996000289916992, -14.819999694824219, -16.631999969482422, -11.461999893188477, -1.6455999612808228, -8.915200233459473, -2.9567999839782715, -2.0223615169525146, -0.7437400817871094, -0.9519002437591553, -0.9556282758712769, -0.21417304873466492, -1.026626706123352, -0.9911265969276428, -0.36691659688949585, -0.21333740651607513, -0.7819634079933167, -0.31182587146759033, -0.0531281977891922, -0.1348520666360855, -0.7052062153816223, -0.4000965654850006, -0.16436536610126495, -0.08419335633516312, -0.17064282298088074, -0.871193528175354, -0.4519076645374298, -0.5346024632453918, -0.11130645871162415, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-14.500499725341797, 14.128499984741211, -5.057000160217285, 1.5880000591278076, 1.832800030708313, 1.555999994277954, 3.3775999546051025, 0.8214252591133118, 0.6074725985527039, 0.5554822683334351, 0.6176167130470276, 0.11289741843938828, 0.3818667531013489, 0.25233909487724304, 0.1062563955783844, 0.014270060695707798, 0.3386908769607544, 0.22067676484584808, 0.10459613054990768, 0.01783757284283638, 0.5334621667861938, 0.820341944694519, 0.12451920658349991, 0.01783757284283638, 0.003518408630043268, 0.7397469282150269, 0.23506873846054077, 0.10791664570569992, 0.022118592634797096, 43.3754997253418, 20.308500289916992, 19.715999603271484, 4.757999897003174, 0.07440000027418137, 3.7248001098632812, 5.660799980163574, 2.28725528717041, 4.402584552764893, 2.4543118476867676, 2.2505106925964355, 0.8035640120506287, 2.1444027423858643, 2.1396052837371826, 1.0609036684036255, 0.21405088901519775, 0.7637335062026978, 0.3012717664241791, 0.6956473588943481, 0.07991233468055725, 1.3422905206680298, 0.24754177033901215, 0.2108525186777115, 0.11772798746824265, 0.11434828490018845, 1.1561543941497803, 0.36747482419013977, 0.31378841400146484, 0.0642152652144432, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.280488967895508, 3.5872278213500977, -12.540324211120605, -2.286377191543579, 0.35829293727874756, 0.3938016891479492, 2.1359875202178955, -0.0018613911233842373, -0.044080525636672974, 0.03664815425872803, 0.0007040760829113424, -6.875780672999099e-05, 0.04087503254413605, 0.006356489844620228, 0.00471033900976181, 0.00093295011902228, 0.025456855073571205, -0.018203821033239365, 0.005357575602829456, -0.0003939829475712031, 0.10753706842660904, 0.15056265890598297, 0.003397516440600157, 0.0024884019512683153, -2.0399404093041085e-05, 0.05305831879377365, -0.024743737652897835, 0.0034387768246233463, 7.130936864996329e-05, 22.68153953552246, 1.8906044960021973, 10.490342140197754, -5.2668843269348145, -0.6541109681129456, 1.0219614505767822, -1.1269954442977905, 0.07745096832513809, 0.6234471201896667, 0.33880218863487244, 0.22180823981761932, 0.09353897720575333, 0.6998186111450195, 0.00802272092550993, 0.31091469526290894, 0.06541508436203003, 0.010945533402264118, -0.02156701311469078, 0.0005729751428589225, 0.0026920840609818697, 0.015678811818361282, -0.027993444353342056, 4.9504396884003654e-05, 0.0015853900695219636, 0.0013988162390887737, 0.01750398613512516, -0.023172825574874878, 0.00019160372903570533, 0.001010172301903367, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.198024034500122, 0.9892323613166809, 0.6022237539291382, 0.6571460962295532, 0.17965857684612274, 0.30551210045814514, 0.2434285581111908, 0.1379283219575882, 0.1066928431391716, 0.07895459979772568, 0.08515419811010361, 0.010028655640780926, 0.06099000945687294, 0.04750437289476395, 0.014171508140861988, 0.004624903202056885, 0.057666148990392685, 0.042486656457185745, 0.012701524421572685, 0.005496590863913298, 0.13304221630096436, 0.16105179488658905, 0.020430749282240868, 0.006095779128372669, 0.00044668142800219357, 0.1207510307431221, 0.09983041137456894, 0.014046689495444298, 0.010203584097325802, 4.147946357727051, 2.098583698272705, 2.434976577758789, 1.5861867666244507, 0.23049496114253998, 0.9406241774559021, 0.8043522834777832, 0.5607379078865051, 0.993293046951294, 0.5698277354240417, 0.5116342306137085, 0.17760400474071503, 0.9688495993614197, 0.26242926716804504, 0.45298275351524353, 0.10680703818798065, 0.05948304757475853, 0.06601664423942566, 0.017456846311688423, 0.010555013082921505, 0.08451448380947113, 0.07849013060331345, 0.010069366544485092, 0.009519935585558414, 0.01452722493559122, 0.06979092955589294, 0.09307628124952316, 0.023018309846520424, 0.005767511203885078, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1811]}, "observation.state.tcp": {"min": [0.3617660403251648, 0.1917717158794403, 0.9441875219345093, -1.2125647068023682, 1.2165427207946777, -1.3715401887893677, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.31768161058425903, -0.2322051227092743, 0.9051548838615417, -0.38922715187072754, 1.2180651426315308, 0.7452348470687866, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4898962080478668, 0.31692641973495483, 1.0518139600753784, -0.8113599419593811, 1.56106436252594, -1.1622123718261719, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5064691305160522, 0.016414009034633636, 1.0517926216125488, 1.4039689302444458, 2.3401927947998047, 1.4085975885391235, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4735960364341736, 0.2860552668571472, 0.9698986411094666, -1.034035086631775, 1.4462547302246094, -1.2367923259735107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3835872411727905, -0.0994657576084137, 0.9282301664352417, 0.13249771296977997, 1.9779950380325317, 0.967395007610321, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.015094858594238758, 0.019890902563929558, 0.018445072695612907, 0.06026521697640419, 0.08525465428829193, 0.03638573735952377, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04154258221387863, 0.04698699340224266, 0.026329675689339638, 0.2891206443309784, 0.1660015732049942, 0.14178310334682465, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1811]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.1657683253288269, 1.0265172719955444, -0.1614539474248886, -0.7699999809265137, 0.4601782560348511, 0.0, -0.219731867313385, 0.0, 0.0, 0.0, -0.1745329201221466, -0.02625853568315506, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, 0.0, -0.15084369480609894, -0.15501731634140015, 0.0, 0.0, 1.050446629524231, -0.7909038066864014, -0.23145246505737305, 1.0325191020965576, -1.3924922943115234, -0.7691314816474915, -0.253789484500885, 0.0, -0.27024874091148376, 0.0, -0.264313280582428, -0.1745329201221466, 0.0, -0.08589226752519608, 0.0, 0.0, 0.0, -0.0323946550488472, 0.0, 0.0, 0.0, -0.06480009108781815, 0.0, 0.0, 0.0, -0.05470569431781769, -0.10305363684892654, 0.0, 0.0, 0.561245858669281, -1.1069588661193848, 0.5442397594451904, -0.052027199417352676, -0.04830434173345566, 0.0, -0.8726646304130554], "max": [1.283961534500122, -0.5785161256790161, 0.0, 1.5700000524520874, 0.0, -0.18538632988929749, 0.7388837933540344, 1.1950668096542358, 0.0, 0.15508008003234863, 0.31984561681747437, 0.4822549521923065, 0.6846327185630798, 0.11745636910200119, 0.17648066580295563, 0.30099573731422424, 0.504439115524292, 0.15753120183944702, 0.11291693896055222, 0.03439946100115776, 0.17799289524555206, 0.15570968389511108, 0.3314354419708252, 0.33315205574035645, 0.020871710032224655, 0.1734493225812912, 0.04650943726301193, 0.10992883145809174, 0.094224713742733, 1.3804408311843872, -0.23742550611495972, -0.0004448454128578305, 1.6833587884902954, 0.26183533668518066, -0.01469192560762167, 0.529795229434967, 1.5364106893539429, 0.0, 0.765596866607666, 0.3490658402442932, 0.47932669520378113, 1.2207611799240112, 0.2926174998283386, 0.752322256565094, 1.1362481117248535, 1.5707963705062866, 0.2935762405395508, 1.7453292608261108, 1.3151485919952393, 1.5707963705062866, 0.26049989461898804, 1.7453292608261108, 1.3962633609771729, 0.07612188160419464, 1.5707963705062866, 0.33000844717025757, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.1068634986877441, 0.7509852051734924, 0.0, 0.052998028695583344, 0.258989155292511, -0.5998814105987549], "mean": [1.2468186616897583, -0.7400758266448975, -0.15333178639411926, 1.1478943824768066, -0.15747275948524475, -0.3041956126689911, 0.508057713508606, 1.1563515663146973, -0.1974416822195053, 0.12708868086338043, 0.2937696576118469, 0.471867173910141, 0.519596517086029, 0.10475219041109085, 0.14164955914020538, 0.2898734211921692, 0.3722600042819977, 0.1383618861436844, 0.06844382733106613, 0.021330637857317924, 0.09071046859025955, 0.12671615183353424, 0.269180566072464, 0.3234620690345764, 0.016432054340839386, 0.11390820890665054, 0.012086468748748302, 0.05840399116277695, 0.049020200967788696, 1.1376333236694336, -0.5680087804794312, -0.22068333625793457, 1.371343731880188, -1.0515174865722656, -0.443388968706131, 0.04187487065792084, 1.3432154655456543, -0.17585137486457825, 0.474302738904953, -0.05795631930232048, 0.14783988893032074, 0.9147496223449707, 0.2031218558549881, 0.10633784532546997, 0.6168810129165649, 1.4733089208602905, 0.201348677277565, 1.6315572261810303, 1.1139782667160034, 1.4168447256088257, 0.16407392919063568, 1.6342405080795288, 1.2471946477890015, 0.06709110736846924, 1.468031883239746, 0.25303152203559875, 1.6491453647613525, 1.3192883729934692, 0.561362087726593, -1.1069406270980835, 0.7148932218551636, -0.0407169945538044, 0.012603764422237873, 0.21537722647190094, -0.862043023109436], "std": [0.034821607172489166, 0.02219381369650364, 0.02189943939447403, 0.05588306859135628, 0.02040827088057995, 0.08516635745763779, 0.06190711632370949, 0.1618623435497284, 0.032386600971221924, 0.03344377502799034, 0.043783046305179596, 0.07000391185283661, 0.2306571751832962, 0.02262197621166706, 0.04908058047294617, 0.04342569038271904, 0.20404164493083954, 0.032646503299474716, 0.0361122190952301, 0.007769936230033636, 0.08728162944316864, 0.04075843095779419, 0.09462842345237732, 0.04807686060667038, 0.006611666642129421, 0.08476680517196655, 0.04752417281270027, 0.04119924083352089, 0.036608919501304626, 0.05887918546795845, 0.11877603083848953, 0.03513342887163162, 0.1739780306816101, 0.2687666118144989, 0.1351718306541443, 0.16437137126922607, 0.2036709189414978, 0.0428740568459034, 0.16130568087100983, 0.10835452377796173, 0.142782062292099, 0.23326216638088226, 0.07332496345043182, 0.14125624299049377, 0.2882307171821594, 0.34862351417541504, 0.06230594590306282, 0.4224628210067749, 0.294168084859848, 0.3614785075187683, 0.060645174235105515, 0.4227518141269684, 0.32432156801223755, 0.017739763483405113, 0.38745948672294617, 0.07859128713607788, 0.37749457359313965, 0.301994651556015, 0.00015494285617023706, 1.8558312149252743e-05, 0.027343763038516045, 0.010364911518990993, 0.01539535727351904, 0.04369417950510979, 0.044504959136247635], "count": [1811]}, "observation.state.tcp_pose": {"min": [0.3617660403251648, 0.1917717158794403, 0.9441875219345093, -1.2125647068023682, 1.2165427207946777, -1.3715401887893677, 0.31768161058425903, -0.2322051227092743, 0.9051548838615417, -0.38922715187072754, 1.2180651426315308, 0.7452348470687866], "max": [0.4898962080478668, 0.31692641973495483, 1.0518139600753784, -0.8113599419593811, 1.56106436252594, -1.1622123718261719, 0.5064691305160522, 0.016414009034633636, 1.0517926216125488, 1.4039689302444458, 2.3401927947998047, 1.4085975885391235], "mean": [0.4735960364341736, 0.2860552668571472, 0.9698986411094666, -1.034035086631775, 1.4462547302246094, -1.2367923259735107, 0.3835872411727905, -0.0994657576084137, 0.9282301664352417, 0.13249771296977997, 1.9779950380325317, 0.967395007610321], "std": [0.015094858594238758, 0.019890902563929558, 0.018445072695612907, 0.06026521697640419, 0.08525465428829193, 0.03638573735952377, 0.04154258221387863, 0.04698699340224266, 0.026329675689339638, 0.2891206443309784, 0.1660015732049942, 0.14178310334682465], "count": [1811]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.1924280971288681, 0.9445526003837585, -1.208855390548706, 1.1953765153884888, -1.3782440423965454, 0.31768086552619934, -0.23601143062114716, 0.9053035974502563, -0.39000824093818665, 1.2186590433120728, 0.7458714842796326], "max": [0.4882271885871887, 0.31704503297805786, 1.0518032312393188, -0.7832324504852295, 1.5593271255493164, -1.1634021997451782, 0.5067472457885742, 0.016409587115049362, 1.0517269372940063, 1.4062217473983765, 2.3404576778411865, 1.408852458000183], "mean": [0.4735793173313141, 0.2860998809337616, 0.9699021577835083, -1.033846139907837, 1.4460068941116333, -1.2367761135101318, 0.3835931122303009, -0.09952975809574127, 0.9282837510108948, 0.13159485161304474, 1.9780499935150146, 0.9672735333442688], "std": [0.015112358145415783, 0.01985880918800831, 0.01819409430027008, 0.06019619479775429, 0.08550764620304108, 0.036610111594200134, 0.04155560955405235, 0.0469588004052639, 0.02644597738981247, 0.28750017285346985, 0.16528229415416718, 0.14198055863380432], "count": [1811]}, "subtask_index": {"min": [64], "max": [1046], "mean": [1026.6156819436776], "std": [75.65446646641888], "count": [1811]}, "observation.tactile": {"min": [-0.025951335206627846, -3.108428791165352e-05, -6.985733489273116e-05, -0.0012006605975329876, -0.00025301516870968044, -0.0005118211265653372, -0.008802908472716808, -2.217311703134328e-05, -4.575217826641165e-05, -0.0016186065040528774, -1.4370301869348623e-05, -0.0002096837997669354, -0.01237014401704073, -3.676135384012014e-05, -8.122045983327553e-05, -0.0012625210219994187, -4.798599911737256e-05, -0.000268221105216071, -0.33364778757095337, -2.966971806017682e-05, -6.662237865384668e-05, -0.0015473314560949802, -0.00023401353973895311, -0.004295645281672478, -0.0020227788481861353, -5.3904514061287045e-05, -0.00012200437049614266, -0.0005060528637841344, -3.6612946132663637e-06, -5.647742364089936e-05, -1.3803445100784302, -4.503417949308641e-05, -0.00010035785817308351, -0.24728131294250488, -0.009311792440712452, -0.03560997545719147, -7.169209957122803, 0.0, 0.0, -0.3266754746437073, -0.022859616205096245, -0.1367110311985016, -0.01349225826561451, -5.0848975661210716e-05, -0.00011478506348794326, -0.0020196621771901846, -2.9431466828100383e-05, -0.00029623310547322035, -0.014686006121337414, -4.189635001239367e-05, -9.078317089006305e-05, -0.0013300587888807058, -0.00011006222484866157, -0.00031821607262827456, -0.010577090084552765, -3.787705281865783e-05, -8.440040255663916e-05, -0.0013252985663712025, -6.957144069019705e-05, -0.00022164963593240827], "max": [0.0014093979261815548, 0.01992436684668064, 0.05840006470680237, 1.3441842838801676e-06, 0.00015796726802363992, 5.4531546993530355e-06, 0.033852919936180115, 0.022922834381461143, 0.07875172048807144, 8.67871733589709e-07, 0.0004724042664747685, 0.0005611504893749952, 0.0026922980323433876, 0.01929464191198349, 0.05697476863861084, 1.518019416835159e-06, 0.00021019653650000691, 1.948315002664458e-05, 0.007209709845483303, 0.05299907550215721, 0.11696702241897583, 1.1965011026404682e-06, 0.0002554560196585953, 7.571333117084578e-05, 0.0018284890102222562, 0.007913215085864067, 0.02307973802089691, 2.3221311948873335e-06, 0.0001042363146552816, 8.377941412618384e-06, 6.990634441375732, 9.848967552185059, 10.882184982299805, 1.8427527948006173e-06, 0.02733679674565792, 0.15638430416584015, 4.3437981605529785, 11.564387321472168, 16.060523986816406, 0.0, 0.01903613843023777, 0.09362442791461945, 0.05779742822051048, 0.0356033518910408, 0.11464524269104004, 2.105531621054979e-06, 0.0006382084102369845, 0.0008402781677432358, 0.021080484613776207, 0.024730270728468895, 0.06956209987401962, 1.6849720623213216e-06, 0.0002687610103748739, 0.00028749427292495966, 0.0012486258056014776, 0.020096760243177414, 0.05532042682170868, 1.605337956789299e-06, 0.0001017314862110652, 6.713277343806112e-06], "mean": [-0.004101746715605259, 0.00424802815541625, 0.012685470283031464, -0.00023867357231210917, -3.65362357115373e-05, -7.071983418427408e-05, -3.8501046219607815e-05, 0.0020954555366188288, 0.00629578810185194, -0.00011767171235987917, 2.7133943149237894e-05, -9.127508747042157e-06, -0.00011558988626347855, 0.0009639973868615925, 0.002825196133926511, -5.076644447399303e-05, 6.925929938006448e-06, -3.6952390018996084e-06, -0.0006038210703991354, 0.0014263808261603117, 0.004103516694158316, -7.57761299610138e-05, 2.215885615441948e-06, -9.77079525910085e-06, 0.00021737083443440497, 0.0004950749571435153, 0.0014667607611045241, -3.098382876487449e-05, 3.231747541576624e-06, 3.0513538149534725e-06, 1.0601720809936523, 1.5848829746246338, 2.1796703338623047, -0.045069579035043716, 0.0038393752183765173, 0.0201597698032856, -0.7440993785858154, 2.721606969833374, 4.446610450744629, -0.09112179279327393, -0.0029638211708515882, -0.01272553950548172, 0.0010371435200795531, 0.002534732688218355, 0.007566170301288366, -0.000140803269459866, 3.107180236838758e-05, 7.68670088291401e-06, -0.00040727006853558123, 0.004899946507066488, 0.014241112396121025, -0.00022938873735256493, 2.4975459382403642e-05, -1.7557622413733043e-05, -0.0019225622527301311, 0.004840018693357706, 0.013579071499407291, -0.000310316652758047, -1.5312696632463485e-05, -3.893314715242013e-05], "std": [0.00525811780244112, 0.004307652823626995, 0.012825394049286842, 0.0002581486478447914, 5.6014170695561916e-05, 9.469041106058285e-05, 0.002207366516813636, 0.003400607733055949, 0.010449394583702087, 0.00020709808450192213, 5.537276592804119e-05, 3.945482967537828e-05, 0.0009103312622755766, 0.0021044353488832712, 0.0061414060182869434, 0.00011669936066027731, 2.1141453544260003e-05, 1.9489845726639032e-05, 0.009073463268578053, 0.0030530765652656555, 0.008356450125575066, 0.0001545715786051005, 2.191614476032555e-05, 0.00011670604726532474, 0.0003257868520449847, 0.0012524155899882317, 0.0036087725311517715, 7.636537338839844e-05, 1.236278058058815e-05, 9.335502909380011e-06, 1.8371014595031738, 2.3091447353363037, 3.0798938274383545, 0.06471654772758484, 0.0071234675124287605, 0.036901239305734634, 2.015493392944336, 3.709955930709839, 5.888517379760742, 0.11889322847127914, 0.006292168982326984, 0.03754765912890434, 0.004503880627453327, 0.004722541198134422, 0.01447202917188406, 0.00026312004774808884, 7.562166138086468e-05, 6.155010487418622e-05, 0.0028388218488544226, 0.004749142564833164, 0.013802860863506794, 0.00022989751596469432, 4.9995673180092126e-05, 4.922267544316128e-05, 0.0016540342476218939, 0.004027047194540501, 0.011303253471851349, 0.0002623637847136706, 1.687425174168311e-05, 3.348721656948328e-05], "count": [1811]}, "timestamp": {"min": [0.0], "max": [60.333333333333336], "mean": [30.166666666666664], "std": [17.42635296835737], "count": [1811]}, "frame_index": {"min": [0], "max": [1810], "mean": [905.0], "std": [522.7905890507211], "count": [1811]}, "episode_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1811]}, "index": {"min": [55989], "max": [57799], "mean": [56894.0], "std": [522.7905890507211], "count": [1811]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1811]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5363162755966187]], [[0.5360467433929443]], [[0.5376996397972107]]], "std": [[[0.2988491952419281]], [[0.2989186644554138]], [[0.29950252175331116]]], "count": [1811]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24676762521266937]], [[0.24659574031829834]], [[0.24586768448352814]]], "std": [[[0.1546839475631714]], [[0.1553238332271576]], [[0.15456503629684448]]], "count": [1811]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.18726125359535217]], [[0.18876653909683228]], [[0.18652021884918213]]], "std": [[[0.12574057281017303]], [[0.12699680030345917]], [[0.12944097816944122]]], "count": [1811]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.539729118347168]], [[0.5394675731658936]], [[0.5406623482704163]]], "std": [[[0.3001095950603485]], [[0.3003825545310974]], [[0.30146458745002747]]], "count": [1811]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7333333492279053]], [[0.7333333492279053]], [[0.7333333492279053]]], "mean": [[[0.001813820214010775]], [[0.001813820214010775]], [[0.001813820214010775]]], "std": [[[0.026215340942144394]], [[0.026215340942144394]], [[0.026215340942144394]]], "count": [1811]}, "observation.images.tactile_raw": {"min": [[[0.027450980618596077]], [[0.027450980618596077]], [[0.027450980618596077]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46765372157096863]], [[0.46765372157096863]], [[0.46765372157096863]]], "std": [[[0.23491171002388]], [[0.23491171002388]], [[0.23491171002388]]], "count": [1811]}}}
+{"episode_index": 34, "stats": {"observation.state": {"min": [0.9991620182991028, -0.8573384881019592, -0.20918008685112, 1.2851935625076294, -0.042913831770420074, -0.770030677318573, 0.43516650795936584, 0.0063354396261274815, -0.28423190116882324, -0.08516107499599457, -3.409282726352103e-05, 0.0030761873349547386, 0.0035425822716206312, -0.012250244617462158, 0.0034442238975316286, 0.0008234363049268723, -0.1580498069524765, -0.012455832213163376, 0.003432877827435732, 0.0008034822531044483, -0.10936867445707321, -0.03761451318860054, 0.0031261807307600975, 0.0008420600206591189, 0.013135315850377083, -0.1435186117887497, -0.038266804069280624, 0.0035023719538003206, 0.0008509285398758948, 1.0409893989562988, -0.8061860203742981, -0.23098094761371613, 1.2312703132629395, -1.5568205118179321, -0.7690144181251526, -0.3402828574180603, 0.007100245449692011, -0.30384203791618347, 0.0030655013397336006, -0.290096640586853, 0.0034729433245956898, 0.005121179390698671, -0.11742062121629715, 0.00313894497230649, 0.0007254398660734296, 0.003658861154690385, -0.01979784108698368, 0.002747507765889168, 0.000870439107529819, -0.00044769825763069093, -0.036853060126304626, 0.003454151563346386, 0.0008473811321891844, 0.005722083151340485, -0.05000263825058937, -0.03727303817868233, 0.0034779072739183903, 0.0008730996632948518, 0.5604782104492188, -1.1072465181350708, 0.5443714261054993, -0.04688228666782379, -0.08168447762727737, 0.0, -0.8729309439659119], "max": [1.2812929153442383, -0.7698349356651306, 6.2317967604030855e-06, 1.5700161457061768, 0.033495187759399414, -0.017865482717752457, 0.6981862187385559, 1.1830761432647705, -0.0010690658818930387, 0.5094133615493774, 0.3145471215248108, 0.47962573170661926, 0.9165892601013184, 0.03799646720290184, 0.1452168971300125, 0.2951453626155853, 0.5427713990211487, 0.08232202380895615, 0.045994605869054794, 0.01765044778585434, 0.0023326922673732042, 0.09657186269760132, 0.2742415964603424, 0.3229284882545471, 0.013667278923094273, 0.012713653035461903, -0.004342061001807451, 0.03900723531842232, 0.036214347928762436, 1.3843761682510376, -0.28301239013671875, -0.0011068630265071988, 1.6868247985839844, 0.28042712807655334, -0.10092011839151382, 0.5652042031288147, 1.533125638961792, 0.000300646701361984, 0.8229866027832031, 0.3157960772514343, 0.41536083817481995, 1.1571502685546875, 0.2627734839916229, 0.8082717657089233, 1.1238566637039185, 1.46883225440979, 0.273688405752182, 1.6556909084320068, 1.3081387281417847, 1.4688011407852173, 0.22866886854171753, 1.654839277267456, 1.30824875831604, 0.061314910650253296, 1.468662977218628, 0.3150287866592407, 1.6553288698196411, 1.3081703186035156, 0.5627791881561279, -1.106191873550415, 0.7108083367347717, 9.58738019107841e-05, -9.58738019107841e-05, 0.23719178140163422, -0.5999782085418701], "mean": [1.1645455360412598, -0.8539834022521973, -0.14381414651870728, 1.376579761505127, 0.007706119678914547, -0.3005843758583069, 0.5627849102020264, 1.1223900318145752, -0.22357121109962463, 0.16411247849464417, 0.28642332553863525, 0.469955176115036, 0.6015450358390808, 0.011669153347611427, 0.09525807201862335, 0.2833499312400818, 0.12800240516662598, 0.044634025543928146, 0.003911792300641537, 0.012426470406353474, -0.009161143563687801, 0.024011261761188507, 0.14840441942214966, 0.31480884552001953, 0.013351667672395706, -0.04940049722790718, -0.032381054013967514, 0.009300597943365574, 0.0070381732657551765, 1.1213152408599854, -0.6520208716392517, -0.22395725548267365, 1.4407187700271606, -1.2721099853515625, -0.38506996631622314, -0.04004750773310661, 1.3341431617736816, -0.23494109511375427, 0.623146653175354, -0.10768952965736389, 0.09638716280460358, 0.9344363212585449, 0.17204751074314117, 0.10197091847658157, 0.6217013001441956, 1.405591607093811, 0.1745058298110962, 1.5763318538665771, 1.1835989952087402, 1.400644063949585, 0.13390330970287323, 1.5743427276611328, 1.2418171167373657, 0.05805022642016411, 1.395238995552063, 0.25340333580970764, 1.5900299549102783, 1.2561203241348267, 0.5611737370491028, -1.1068620681762695, 0.6804671287536621, -0.032590143382549286, -0.03632941097021103, 0.19270317256450653, -0.8664723634719849], "std": [0.03651224449276924, 0.014251349493861198, 0.021654948592185974, 0.025244126096367836, 0.02579326368868351, 0.11186116933822632, 0.07624085247516632, 0.1432887315750122, 0.04170709848403931, 0.18099401891231537, 0.03929250314831734, 0.06275147944688797, 0.29205653071403503, 0.013449758291244507, 0.040158260613679886, 0.03836356848478317, 0.14862167835235596, 0.013728904537856579, 0.0022975276224315166, 0.00493513373658061, 0.017586560919880867, 0.02316669560968876, 0.06895379722118378, 0.042375244200229645, 6.745730934198946e-05, 0.034253619611263275, 0.004300591070204973, 0.011214399710297585, 0.010851623490452766, 0.05226176232099533, 0.12109656631946564, 0.024328529834747314, 0.1107318103313446, 0.26737692952156067, 0.09905531257390976, 0.21176058053970337, 0.1751028299331665, 0.041993964463472366, 0.16473816335201263, 0.09898598492145538, 0.11473822593688965, 0.19139157235622406, 0.05920207127928734, 0.11063554137945175, 0.2596631944179535, 0.2737952172756195, 0.043638456612825394, 0.346227765083313, 0.26694977283477783, 0.2952444851398468, 0.03809819370508194, 0.3483816683292389, 0.27357426285743713, 0.011699896305799484, 0.31242814660072327, 0.061141714453697205, 0.30316978693008423, 0.23910968005657196, 0.00018828632892109454, 6.5358639403712e-05, 0.025863640010356903, 0.010447051376104355, 0.009870296344161034, 0.038690581917762756, 0.03391433507204056], "count": [2376]}, "observation.state.joint_torque": {"min": [-35.7135009765625, -3.1740000247955322, -18.684999465942383, -7.664000034332275, -0.2223999947309494, -0.9656000137329102, 0.7752000093460083, -0.8265193104743958, -0.8086899518966675, -0.45979514718055725, -0.29824548959732056, -0.11621791869401932, -0.34924498200416565, -0.2552174925804138, -0.1145576685667038, -0.03424813970923424, -0.2983933687210083, -0.2600148022174835, -0.07471152395009995, -0.03638865053653717, -0.3981776535511017, -0.5718407034873962, -0.12949997186660767, -0.04709119349718094, -0.001759204315021634, -0.38954246044158936, -0.3406098186969757, -0.06474998593330383, -0.03781566023826599, -11.633999824523926, -10.125, -20.059999465942383, -9.529000282287598, -5.6184000968933105, -9.236800193786621, -2.992000102996826, -1.937035322189331, -0.83925461769104, -0.8301166296005249, -1.2849410772323608, -0.19757047295570374, -0.756057858467102, -0.7445442080497742, -0.28888458013534546, -0.21333740651607513, -1.017991542816162, -0.2715283930301666, -0.5727883577346802, -0.09418238699436188, -0.8817476630210876, -0.3521233797073364, -0.07637178897857666, -0.11201997101306915, -0.12314429879188538, -1.5485752820968628, -0.729192852973938, -0.7703588008880615, -0.13841956853866577, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-3.558000087738037, 11.942999839782715, 0.2939999997615814, 0.9700000286102295, 1.815999984741211, 1.4880000352859497, 3.101599931716919, 0.4864875376224518, 0.3705965280532837, 0.7195172905921936, 0.7580406665802002, 0.10957689583301544, 0.3569207191467285, 0.2820824980735779, 0.1145576685667038, 0.022832093760371208, 0.5852732062339783, 0.17654141783714294, 0.09629485011100769, 0.016410568729043007, 0.2983933985233307, 0.6898547410964966, 0.12119869887828827, 0.021405089646577835, 0.0013194032944738865, 0.38186678290367126, 0.20724426209926605, 0.06973075866699219, 0.01783757284283638, 39.00299835205078, 10.98449993133545, 20.315000534057617, 5.517000198364258, 0.47760000824928284, 2.8032000064849854, 8.004799842834473, 2.479557991027832, 3.1672627925872803, 2.132455348968506, 2.1933469772338867, 0.6026729345321655, 2.1472811698913574, 2.144402503967285, 1.0609036684036255, 0.21476440131664276, 0.3828262388706207, 0.2225956916809082, 0.3519743084907532, 0.04851820319890976, 0.5267458558082581, 0.22355517745018005, 0.06474998593330383, 0.05636673793196678, 0.12798210978507996, 0.4586239159107208, 0.3166232109069824, 0.2307755947113037, 0.06064775213599205, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-25.33644676208496, 4.581497669219971, -13.24245548248291, -3.675726890563965, 0.44753631949424744, -0.06741144508123398, 2.0551021099090576, -0.009511787444353104, -0.06010127440094948, 0.08746320009231567, 0.010523112490773201, -7.686427852604538e-05, 0.04723680391907692, 0.0005314174341037869, 0.0045887683518230915, 0.0009438309352844954, 0.04391362518072128, -0.03769322857260704, -0.0005240708705969155, -0.0006005917675793171, 0.0009408979676663876, 0.01897924393415451, 0.009647791273891926, 0.00015375143266282976, -6.348978786263615e-05, 0.019059641286730766, -0.002316673519089818, 0.0009328456944786012, -0.007519104052335024, 21.886638641357422, 2.800703525543213, 10.563009262084961, -5.04334831237793, -0.6201257705688477, 1.10355544090271, -0.8503628373146057, -0.05671006813645363, 0.6024677157402039, 0.2931458652019501, 0.3312760889530182, 0.0368778295814991, 0.6995617151260376, 0.08897299319505692, 0.33833855390548706, 0.07092906534671783, 0.006117742508649826, -0.021984552964568138, -0.0002606382768135518, 0.003960605710744858, 5.247831722954288e-06, -0.017722226679325104, 6.288268650678219e-06, 0.0003834791132248938, 0.0002058355021290481, 0.020223824307322502, -0.02552519179880619, 0.00022639957023784518, 0.0017191959777846932, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.1694666147232056, 0.7148615717887878, 0.5879024267196655, 0.5792237520217896, 0.22655028104782104, 0.3087212145328522, 0.23578669130802155, 0.10126622021198273, 0.11340028792619705, 0.10242678225040436, 0.07391879707574844, 0.00872775912284851, 0.057548508048057556, 0.04133909195661545, 0.015777993947267532, 0.00452335923910141, 0.0596449039876461, 0.049933113157749176, 0.006356584373861551, 0.005867032799869776, 0.04812759533524513, 0.09212619811296463, 0.018605267629027367, 0.006038007792085409, 0.0002838166255969554, 0.0488046295940876, 0.03161280229687691, 0.007570711430162191, 0.010524183511734009, 3.762410879135132, 2.2136006355285645, 2.8850300312042236, 1.4253029823303223, 0.4494374096393585, 1.1016336679458618, 0.8845523595809937, 0.6516287922859192, 0.897485613822937, 0.4559652507305145, 0.5668393969535828, 0.10838178545236588, 0.8931265473365784, 0.3164523243904114, 0.4478181004524231, 0.10566241294145584, 0.050634995102882385, 0.05253902077674866, 0.019246837124228477, 0.00919586792588234, 0.0489385724067688, 0.05027991533279419, 0.007125168573111296, 0.008639181032776833, 0.011011552065610886, 0.06547189503908157, 0.07857932895421982, 0.021125467494130135, 0.005361179821193218, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2376]}, "observation.state.tcp": {"min": [0.36181604862213135, 0.1919320523738861, 0.9343394041061401, -1.3694757223129272, 1.2025362253189087, -1.5956259965896606, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3021705746650696, -0.27128365635871887, 0.9102597236633301, -0.39907947182655334, 1.219734787940979, 0.5908902287483215, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.44490543007850647, 0.2797889709472656, 1.051744818687439, -0.9323803782463074, 1.6313937902450562, -1.228823184967041, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.47263577580451965, 0.015046417713165283, 1.0517247915267944, 1.377355933189392, 2.1662051677703857, 1.4350926876068115, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.42497673630714417, 0.24914799630641937, 0.9692764282226562, -1.2094449996948242, 1.4326707124710083, -1.4205222129821777, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.35519492626190186, -0.14552554488182068, 0.9384934306144714, -0.03779394552111626, 1.9883897304534912, 0.8093591332435608, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.010316203348338604, 0.013665128499269485, 0.02225528471171856, 0.10575010627508163, 0.11523763835430145, 0.05713914334774017, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.02998698689043522, 0.056409019976854324, 0.026489753276109695, 0.2676776051521301, 0.15050162374973297, 0.16496345400810242, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2376]}, "action": {"min": [1.0001899003982544, -0.8573166131973267, -0.20915189385414124, 1.2851935625076294, -0.04285624250769615, -0.7699999809265137, 0.43512028455734253, 0.0, -0.291445791721344, -0.10235542804002762, 0.0, 0.0, -0.012721627950668335, -0.0114942267537117, 0.0, 0.0, -0.1745329201221466, -0.015328951179981232, 0.0, 0.0, -0.1306174099445343, -0.06230742484331131, 0.0, 0.0, 0.0, -0.1506999284029007, -0.19336682558059692, 0.0, 0.0, 1.0410135984420776, -0.8062247037887573, -0.23096351325511932, 1.2323710918426514, -1.5568225383758545, -0.7681657671928406, -0.34027281403541565, 0.0, -0.30562624335289, 0.0, -0.29470497369766235, -0.1745329201221466, 0.0, -0.12194079905748367, 0.0, 0.0, 0.0, -0.025683529675006866, 0.0, 0.0, 0.0, -0.06805974990129471, 0.0, 0.0, 0.0, -0.05090896785259247, -0.07553774863481522, 0.0, 0.0, 0.561053454875946, -1.1069588661193848, 0.5442397594451904, -0.047823939472436905, -0.0891643539071083, 0.0, -0.8726646304130554], "max": [1.281277060508728, -0.7699742317199707, 0.0, 1.5700000524520874, 0.03346046805381775, -0.016992932185530663, 0.7904531955718994, 1.1935328245162964, 0.0, 0.5163182020187378, 0.3169695734977722, 0.4822549521923065, 0.921005368232727, 0.03922312706708908, 0.15023331344127655, 0.2987523674964905, 0.5520146489143372, 0.08658497780561447, 0.053052548319101334, 0.019318507984280586, 0.0, 0.10211627930402756, 0.2824549376964569, 0.32724621891975403, 0.010689926333725452, 0.02072255313396454, 0.0, 0.04456210136413574, 0.037965986877679825, 1.3849165439605713, -0.2829422950744629, -0.0009810128249228, 1.6869395971298218, 0.28072136640548706, -0.10072655230760574, 0.5681127309799194, 1.54115629196167, 0.0, 0.8278188705444336, 0.3490658402442932, 0.4196929633617401, 1.178672432899475, 0.26107507944107056, 0.8120512962341309, 1.120572566986084, 1.5707963705062866, 0.2757437229156494, 1.7453292608261108, 1.3591547012329102, 1.5707963705062866, 0.24439305067062378, 1.7453292608261108, 1.3962633609771729, 0.0808848887681961, 1.5707963705062866, 0.34889549016952515, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.7116833925247192, 0.0, 0.0, 0.2374391406774521, -0.6000000238418579], "mean": [1.1645710468292236, -0.8539741039276123, -0.14382992684841156, 1.3765628337860107, 0.007707232143729925, -0.30081748962402344, 0.5676747560501099, 1.1244491338729858, -0.22990535199642181, 0.16772830486297607, 0.2882191836833954, 0.4723091125488281, 0.6066016554832458, 0.010982797481119633, 0.09882195293903351, 0.2858090102672577, 0.13399824500083923, 0.04533817619085312, 0.0010647305753082037, 0.014098282903432846, -0.009901491925120354, 0.02915116772055626, 0.15157563984394073, 0.31706851720809937, 2.217684050265234e-05, -0.04645819216966629, -0.10525648295879364, 0.008522612042725086, 0.006989386864006519, 1.1214638948440552, -0.6521363854408264, -0.22398047149181366, 1.4407141208648682, -1.2724316120147705, -0.38520777225494385, -0.040012944489717484, 1.3344190120697021, -0.23256126046180725, 0.623393177986145, -0.10515660792589188, 0.040719207376241684, 0.9551881551742554, 0.17732012271881104, 0.1098211407661438, 0.6572995781898499, 1.504898190498352, 0.17326238751411438, 1.6618735790252686, 1.1879221200942993, 1.4989116191864014, 0.13113784790039062, 1.662914514541626, 1.28546142578125, 0.07215116173028946, 1.494849681854248, 0.2532910406589508, 1.6751700639724731, 1.3401037454605103, 0.5611814856529236, -1.1068611145019531, 0.6804995536804199, -0.03263193368911743, -0.03637179359793663, 0.19271989166736603, -0.8664392828941345], "std": [0.036433614790439606, 0.01432571280747652, 0.02159823291003704, 0.025263400748372078, 0.025792330503463745, 0.11206337064504623, 0.08600007742643356, 0.15458132326602936, 0.04545413702726364, 0.1817871630191803, 0.04272358864545822, 0.06853719800710678, 0.2944945693016052, 0.014078807085752487, 0.04215111956000328, 0.04170285537838936, 0.15056928992271423, 0.013837848789989948, 0.004170267842710018, 0.006066448055207729, 0.018605660647153854, 0.0259747002273798, 0.07077304273843765, 0.04603962600231171, 0.0004830214020330459, 0.0360938124358654, 0.031116049736738205, 0.014349903911352158, 0.012368164025247097, 0.05251876264810562, 0.12095406651496887, 0.024249404668807983, 0.11075148731470108, 0.26599860191345215, 0.09906307607889175, 0.21185123920440674, 0.18674194812774658, 0.044756580144166946, 0.16994589567184448, 0.10356155037879944, 0.16910117864608765, 0.2060709148645401, 0.05884748697280884, 0.11553023010492325, 0.2851176857948303, 0.29703766107559204, 0.04361370950937271, 0.366160124540329, 0.2677772641181946, 0.31798070669174194, 0.039692964404821396, 0.36708715558052063, 0.28681591153144836, 0.016357777640223503, 0.335007905960083, 0.06499331444501877, 0.3254396319389343, 0.26034778356552124, 0.00018519452714826912, 1.0932090845017228e-05, 0.026119600981473923, 0.010477052070200443, 0.010029342025518417, 0.03891438618302345, 0.03436897695064545], "count": [2376]}, "observation.state.tcp_pose": {"min": [0.36181604862213135, 0.1919320523738861, 0.9343394041061401, -1.3694757223129272, 1.2025362253189087, -1.5956259965896606, 0.3021705746650696, -0.27128365635871887, 0.9102597236633301, -0.39907947182655334, 1.219734787940979, 0.5908902287483215], "max": [0.44490543007850647, 0.2797889709472656, 1.051744818687439, -0.9323803782463074, 1.6313937902450562, -1.228823184967041, 0.47263577580451965, 0.015046417713165283, 1.0517247915267944, 1.377355933189392, 2.1662051677703857, 1.4350926876068115], "mean": [0.42497673630714417, 0.24914799630641937, 0.9692764282226562, -1.2094449996948242, 1.4326707124710083, -1.4205222129821777, 0.35519492626190186, -0.14552554488182068, 0.9384934306144714, -0.03779394552111626, 1.9883897304534912, 0.8093591332435608], "std": [0.010316203348338604, 0.013665128499269485, 0.02225528471171856, 0.10575010627508163, 0.11523763835430145, 0.05713914334774017, 0.02998698689043522, 0.056409019976854324, 0.026489753276109695, 0.2676776051521301, 0.15050162374973297, 0.16496345400810242], "count": [2376]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.1924280971288681, 0.9345158338546753, -1.3689920902252197, 1.1488347053527832, -1.6041746139526367, 0.3021591901779175, -0.274055153131485, 0.9104134440422058, -0.40007808804512024, 1.2198925018310547, 0.5904869437217712], "max": [0.4411899149417877, 0.2796080708503723, 1.0518032312393188, -0.8718215227127075, 1.6314038038253784, -1.2289544343948364, 0.4736616313457489, 0.014823793433606625, 1.0517315864562988, 1.3776816129684448, 2.1662378311157227, 1.4349931478500366], "mean": [0.42496058344841003, 0.24912318587303162, 0.9695842266082764, -1.205955147743225, 1.4289051294326782, -1.4227315187454224, 0.35524746775627136, -0.14559060335159302, 0.9385584592819214, -0.038119301199913025, 1.9881618022918701, 0.8092204928398132], "std": [0.010347981005907059, 0.013575305230915546, 0.02258365787565708, 0.11250858008861542, 0.12189696729183197, 0.052361540496349335, 0.03008170798420906, 0.056346066296100616, 0.02667303942143917, 0.2662491202354431, 0.15061433613300323, 0.16506227850914001], "count": [2376]}, "subtask_index": {"min": [498], "max": [1078], "mean": [1045.1531986531986], "std": [92.88884562359341], "count": [2376]}, "observation.tactile": {"min": [-0.034658774733543396, -3.779252801905386e-05, -8.542961586499587e-05, -0.0011846579145640135, -0.0003015057591255754, -0.000650162750389427, -0.005182401742786169, -1.9906179659301415e-05, -4.096265183761716e-05, -0.0013965220423415303, -1.4499079043162055e-05, -0.00012880557915195823, -0.009515809826552868, -3.655906766653061e-05, -8.08484255685471e-05, -0.0012244973331689835, -4.125725899939425e-05, -0.000196784661966376, -0.008630246855318546, -3.3231815905310214e-05, -7.320907025132328e-05, -0.0007234324584715068, -9.826802124734968e-05, -0.00014256492431741208, -0.0021283093374222517, -5.6861845223465934e-05, -0.0001273134257644415, -0.0004102820239495486, -1.3034941730438732e-05, -4.839158646063879e-05, -0.8078484535217285, -3.9217626181198284e-05, -8.794778841547668e-05, -0.16444635391235352, -0.0019472966669127345, -0.03338415175676346, -6.734034061431885, 0.0, 0.0, -0.30214864015579224, -0.02207191288471222, -0.12600068747997284, -0.0043210904113948345, -4.901592546957545e-05, -0.00010984284745063633, -0.001818592892959714, -3.0024761144886725e-05, -0.00011516789527377114, -0.015794377774000168, -3.815534364548512e-05, -8.291396079584956e-05, -0.0018558789743110538, -0.00011807183909695596, -0.00036570325028151274, -0.006279314402490854, -4.435302980709821e-05, -9.76791197899729e-05, -0.0009433808154426515, -5.9532256273087114e-05, -0.00014863377145957202], "max": [0.0003009552019648254, 0.02473410964012146, 0.06877797096967697, 1.6499905086675426e-06, 6.922100146766752e-05, 6.40239886706695e-06, 0.02757372334599495, 0.019839491695165634, 0.06802830845117569, 7.834210009605158e-07, 0.0004195712972432375, 0.00046220936928875744, 0.0004633744538296014, 0.017453961074352264, 0.0523897148668766, 1.4996047639215249e-06, 9.812891948968172e-05, 5.819888883706881e-06, 0.0002602283493615687, 0.014234480448067188, 0.041516996920108795, 1.3382700672082137e-06, 4.452086432138458e-05, 5.433387741504703e-06, 0.0004096996271982789, 0.008110678754746914, 0.02340487390756607, 2.4343430595763493e-06, 0.0001276378461625427, 8.744242222746834e-06, 7.255528926849365, 8.005820274353027, 9.696039199829102, 1.6204146504605887e-06, 0.03515411540865898, 0.16442784667015076, 5.001781940460205, 11.500504493713379, 14.896068572998047, 0.0, 0.025022991001605988, 0.09857305139303207, 0.032083917409181595, 0.030848365277051926, 0.08829847723245621, 2.0061008854099782e-06, 0.000308631279040128, 0.00045112724183127284, 0.037665337324142456, 0.040197744965553284, 0.11744855344295502, 1.5321701312132063e-06, 0.00040010144584812224, 0.000558496278245002, 0.002861468121409416, 0.014279069378972054, 0.04036099091172218, 1.8443369071974303e-06, 7.415164145641029e-05, 4.15655886172317e-05], "mean": [-0.002154218964278698, 0.002344903303310275, 0.006855621933937073, -0.00011782209912780672, -2.7987191060674377e-05, -2.7218005925533362e-05, 0.00018937268760055304, 0.002641606144607067, 0.008046594448387623, -0.00015770812751725316, 3.644683238235302e-05, -7.481610737158917e-06, -0.0004287635092623532, 0.001344357500784099, 0.0039063505828380585, -6.874869723105803e-05, 4.088856258022133e-06, -8.239034286816604e-06, -0.00047404266661033034, 0.001369044417515397, 0.004057273734360933, -7.052464206935838e-05, -7.20186335456674e-06, -5.313301699061412e-06, 0.0003341218689456582, 0.00012042314483551309, 0.00038616807432845235, -6.6787342802854255e-06, -5.444690387435003e-08, 6.723492788296426e-06, 1.8249372243881226, 1.4184486865997314, 1.6877169609069824, -0.035330165177583694, 0.006418180651962757, 0.035738877952098846, 0.5735011100769043, 3.2311689853668213, 4.62197208404541, -0.09944240748882294, 0.0004883137880824506, 0.01184980757534504, 0.0003208353300578892, 0.005188281647861004, 0.014882407151162624, -0.00032648781780153513, 2.9510874810512178e-05, -5.672771294484846e-06, -0.0010627475567162037, 0.010502678342163563, 0.030523965135216713, -0.0005804998218081892, 4.7160996473394334e-05, -3.807495522778481e-05, -0.0011735953157767653, 0.0038985463324934244, 0.010675352066755295, -0.00025853468105196953, -2.3180882635642774e-06, -2.9210139473434538e-05], "std": [0.004464215599000454, 0.0038976159412413836, 0.011454891413450241, 0.00020260414748918265, 5.179634899832308e-05, 6.264183321036398e-05, 0.00202534650452435, 0.0033616400323808193, 0.010488921776413918, 0.00020912697073072195, 5.86491369176656e-05, 3.138564352411777e-05, 0.0013673282228410244, 0.002939605852589011, 0.00856406707316637, 0.00015230757708195597, 1.4381782420969103e-05, 2.72459838015493e-05, 0.0009960689349099994, 0.001992063131183386, 0.00591049250215292, 0.00010288470366504043, 1.1333781003486365e-05, 1.4315629414340947e-05, 0.0002002963301492855, 0.0007485134992748499, 0.0021644453518092632, 3.86725296266377e-05, 9.384583790961187e-06, 6.008529908285709e-06, 2.365845203399658, 1.907709002494812, 2.302795648574829, 0.04601193591952324, 0.00857293140143156, 0.04869512841105461, 1.835225224494934, 3.7300150394439697, 5.252730846405029, 0.11066439002752304, 0.005447025876492262, 0.03561040014028549, 0.0020511711481958628, 0.005103485658764839, 0.014579244889318943, 0.0003248545981477946, 3.684640250867233e-05, 2.9597500542877242e-05, 0.0032023764215409756, 0.006633684039115906, 0.019152099266648293, 0.0003462852328084409, 5.057216912973672e-05, 5.981924550724216e-05, 0.0011464820709079504, 0.002727988874539733, 0.007577829994261265, 0.00018469504720997065, 1.6986865375656635e-05, 2.4915716494433582e-05], "count": [2376]}, "timestamp": {"min": [0.0], "max": [79.16666666666667], "mean": [39.58333333333334], "std": [22.863068634971278], "count": [2376]}, "frame_index": {"min": [0], "max": [2375], "mean": [1187.5], "std": [685.8920590491383], "count": [2376]}, "episode_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [2376]}, "index": {"min": [57800], "max": [60175], "mean": [58987.5], "std": [685.8920590491383], "count": [2376]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2376]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5416808724403381]], [[0.5414369106292725]], [[0.5434099435806274]]], "std": [[[0.3007737100124359]], [[0.30096688866615295]], [[0.30223140120506287]]], "count": [2376]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2518604099750519]], [[0.2515917718410492]], [[0.25147363543510437]]], "std": [[[0.1580745130777359]], [[0.15847158432006836]], [[0.15777258574962616]]], "count": [2376]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.18531130254268646]], [[0.18531176447868347]], [[0.18389171361923218]]], "std": [[[0.12194203585386276]], [[0.12151782214641571]], [[0.12429024279117584]]], "count": [2376]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5457717180252075]], [[0.5457063913345337]], [[0.5472193956375122]]], "std": [[[0.30095571279525757]], [[0.3011256754398346]], [[0.3028842806816101]]], "count": [2376]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5882353186607361]], [[0.5882353186607361]], [[0.5882353186607361]]], "mean": [[[0.0017562188440933824]], [[0.0017562188440933824]], [[0.0017562188440933824]]], "std": [[[0.025203119963407516]], [[0.025203119963407516]], [[0.025203119963407516]]], "count": [2376]}, "observation.images.tactile_raw": {"min": [[[0.019607843831181526]], [[0.019607843831181526]], [[0.019607843831181526]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4676121771335602]], [[0.4676121771335602]], [[0.4676121771335602]]], "std": [[[0.2348991185426712]], [[0.2348991185426712]], [[0.2348991185426712]]], "count": [2376]}}}
+{"episode_index": 35, "stats": {"observation.state": {"min": [1.0499812364578247, -0.7800362706184387, -0.15623486042022705, 1.0491150617599487, -0.07790093868970871, -0.7700472474098206, 0.43336349725723267, 0.006229924038052559, -0.23942722380161285, 0.003921985160559416, 7.632982305949554e-05, 0.0030893064104020596, -0.10364426672458649, 6.010210927342996e-05, 0.0034484786447137594, 0.00085270224371925, -0.16808658838272095, -0.00023353924916591495, 0.003436423372477293, 0.0015533104306086898, -0.1393168717622757, -0.012852011248469353, 0.0068388087674975395, 0.0008114639203995466, 0.013230577111244202, -0.13978762924671173, -0.038152001798152924, 0.0034959898330271244, 0.0008535890956409276, 1.0290857553482056, -0.9415236115455627, -0.233363538980484, 0.9974033236503601, -1.365275502204895, -0.8216869831085205, -0.310215026140213, 0.00720521854236722, -0.3151440918445587, 0.003075729124248028, -0.2762930393218994, 0.003484998596832156, 0.0050914958119392395, -0.05290616303682327, 0.0031254717614501715, 0.0007635742658749223, 0.003681184956803918, -0.015907643362879753, 0.002600718755275011, 0.0008447205764241517, -0.002771559404209256, -0.026852581650018692, 0.0034449328668415546, 0.000868221977725625, 0.005678198300302029, -0.05010419711470604, -0.03566475957632065, 0.0034853529650717974, 0.000888176029548049, 0.5606699585914612, -1.107150673866272, 0.5442755818367004, -0.044868938624858856, -0.08398544788360596, -9.58738019107841e-05, -0.8729309439659119], "max": [1.2195320129394531, -0.6335957646369934, 8.62864271766739e-06, 1.5700167417526245, 4.446147431735881e-05, -0.12029453366994858, 0.6981639266014099, 1.2105475664138794, 2.2765587345929816e-05, 0.4212097227573395, 0.31449732184410095, 0.4796260595321655, 0.7453449964523315, 0.08412756025791168, 0.1336815506219864, 0.29512232542037964, 0.4876711368560791, 0.10722929239273071, 0.0600430965423584, 0.0017213677056133747, 0.003061766503378749, 0.09809133410453796, 0.28971898555755615, 0.3275294303894043, 0.013696178793907166, 0.04683955758810043, 0.015462399460375309, 0.17036958038806915, 0.14728380739688873, 1.3299983739852905, -0.35364702343940735, -0.00012787168088834733, 1.698687195777893, 0.19009366631507874, -0.15756702423095703, 0.519833505153656, 1.4976342916488647, 0.0003640643844846636, 0.7540574073791504, 0.3148964047431946, 0.3639009892940521, 1.1331194639205933, 0.24470211565494537, 0.5838295817375183, 1.1418862342834473, 1.468912959098816, 0.2773932218551636, 1.6556785106658936, 1.3082598447799683, 1.4685124158859253, 0.23026542365550995, 1.6548417806625366, 1.3082301616668701, 0.07730912417173386, 1.4686405658721924, 0.31453749537467957, 1.6553068161010742, 1.3082042932510376, 0.5627791881561279, -1.1060001850128174, 0.6947973966598511, 0.0, 0.0, 0.25972211360931396, -0.5997864603996277], "mean": [1.1726104021072388, -0.7256171703338623, -0.14519283175468445, 1.1058154106140137, -0.0751500278711319, -0.23069216310977936, 0.5254685878753662, 1.156624674797058, -0.21428892016410828, 0.272815465927124, 0.2889429032802582, 0.46366217732429504, 0.40596747398376465, 0.06579215079545975, 0.09291967004537582, 0.2774888277053833, 0.2197338193655014, 0.08895903825759888, 0.03289886936545372, 0.0016308394260704517, -0.005076127592474222, 0.07778824865818024, 0.2236127108335495, 0.3150448799133301, 0.013494102284312248, 0.00840294361114502, -0.0015102486358955503, 0.10357523709535599, 0.08869288116693497, 1.0813393592834473, -0.6729876399040222, -0.21360859274864197, 1.461966633796692, -1.1767812967300415, -0.5079126954078674, -0.07539299875497818, 1.3094689846038818, -0.2575820982456207, 0.5690096616744995, -0.027462510392069817, 0.1376175731420517, 0.9180819988250732, 0.17170315980911255, 0.07907471060752869, 0.58320552110672, 1.3637245893478394, 0.14934471249580383, 1.509850025177002, 1.1979724168777466, 1.3570133447647095, 0.09643317013978958, 1.5212520360946655, 1.1698404550552368, 0.07075992971658707, 1.349015712738037, 0.2116495668888092, 1.5477604866027832, 1.2229634523391724, 0.5610002279281616, -1.1068485975265503, 0.6707482933998108, -0.036133695393800735, -0.06069578230381012, 0.21715185046195984, -0.860256016254425], "std": [0.03150475397706032, 0.0179731622338295, 0.024624386802315712, 0.07669736444950104, 0.012295674532651901, 0.1142144724726677, 0.06683149188756943, 0.18975891172885895, 0.03885289281606674, 0.10238345712423325, 0.05028872191905975, 0.07999072968959808, 0.22639237344264984, 0.012575739063322544, 0.032819170504808426, 0.04829101264476776, 0.17711001634597778, 0.019102364778518677, 0.017073877155780792, 2.458456037857104e-05, 0.024610161781311035, 0.027370136231184006, 0.08859928697347641, 0.05476842075586319, 7.75256339693442e-05, 0.04921846464276314, 0.014438888058066368, 0.05042438954114914, 0.0429501049220562, 0.05074119195342064, 0.13703593611717224, 0.03308819234371185, 0.14179430902004242, 0.3187883198261261, 0.10027946531772614, 0.17707471549510956, 0.21764899790287018, 0.05598336085677147, 0.18026401102542877, 0.09847395122051239, 0.11368744820356369, 0.2275661677122116, 0.06000857055187225, 0.07694096118211746, 0.28527703881263733, 0.35819119215011597, 0.048429738730192184, 0.44695591926574707, 0.3513107895851135, 0.37251514196395874, 0.03807159885764122, 0.4416602849960327, 0.343167245388031, 0.019139036536216736, 0.396702378988266, 0.06637883931398392, 0.3800453245639801, 0.29953593015670776, 0.0002526311145629734, 8.773657464189455e-05, 0.02729015052318573, 0.00902665313333273, 0.010031504556536674, 0.045444078743457794, 0.05039195716381073], "count": [1412]}, "observation.state.joint_torque": {"min": [-38.86800003051758, -6.9105000495910645, -17.02199935913086, -6.754000186920166, -0.3240000009536743, -0.5720000267028809, 1.5664000511169434, -0.7653899788856506, -0.6762431263923645, -0.36037999391555786, -0.5492687821388245, -0.15440380573272705, -0.3482855260372162, -0.19093337655067444, -0.10127562284469604, -0.03424813970923424, -0.25905534625053406, -0.24274444580078125, -0.05644870921969414, -0.0007135029300116003, -0.3809072971343994, -0.5420973300933838, -0.12285894900560379, -0.04281017929315567, -0.001759204315021634, -0.36843428015708923, -0.45094820857048035, -0.08467306196689606, -0.03638865053653717, -0.934499979019165, -10.036499977111816, -9.432999610900879, -11.937999725341797, -1.9687999486923218, -6.523200035095215, -3.6600000858306885, -1.6288416385650635, -0.7934076189994812, -0.5343564748764038, -0.9270463585853577, -0.24239739775657654, -0.6169354915618896, -0.8903827667236328, -0.3868396580219269, -0.21333740651607513, -0.2437039166688919, -0.3319746255874634, -0.33869224786758423, -0.07420431077480316, -0.7435848116874695, -0.3367719352245331, -0.13116022944450378, -0.06635577231645584, -0.13325972855091095, -1.7519817352294922, -0.3617180287837982, -0.10293588042259216, -0.06278826296329498, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.589500427246094, 12.90149974822998, -7.945000171661377, 1.218999981880188, 2.266400098800659, 1.3079999685287476, 3.0840001106262207, 0.8889222145080566, 0.5730873942375183, 0.5244150161743164, 0.5716372132301331, 0.0979551151394844, 0.506597101688385, 0.18325766921043396, 0.09961536526679993, 0.01712406985461712, 0.4087317883968353, 0.15447373688220978, 0.09463459998369217, 0.0007135029300116003, 0.30415016412734985, 0.5891110301017761, 0.11787818372249603, 0.015697065740823746, 0.000879602157510817, 0.4528671205043793, 0.3319746255874634, 0.151083305478096, 0.027113113552331924, 53.458499908447266, 15.5625, 21.34600067138672, 4.821000099182129, 0.42080000042915344, 3.105600118637085, 6.166399955749512, 2.4859256744384766, 4.700589656829834, 1.8640342950820923, 1.76461923122406, 0.6740639805793762, 2.141524314880371, 2.1405646800994873, 1.0575830936431885, 0.21405088901519775, 0.32813674211502075, 0.19381177425384521, 0.14776279032230377, 0.09989041090011597, 0.8731124401092529, 0.238906592130661, 0.06308973580598831, 0.08490685373544693, 0.1266627162694931, 0.9105315804481506, 0.3521233797073364, 0.11289741843938828, 0.05422622710466385, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.236169815063477, 3.941415548324585, -12.098052978515625, -2.311288833618164, 0.3986080288887024, 0.17084422707557678, 2.059767246246338, 0.014149529859423637, -0.03699001297354698, 0.07558587938547134, 0.01787288673222065, -0.00012111038813600317, 0.05160593241453171, 0.00687252776697278, 0.005252402275800705, 0.00019201787654310465, 0.053762637078762054, -0.045085273683071136, 0.0020859071519225836, 5.053136646893108e-07, -0.006907873786985874, 0.030505752190947533, 0.011578259989619255, 0.0024320781230926514, -6.291765021160245e-05, 0.06303046643733978, 0.008111277595162392, 0.011993354186415672, 0.0032562443520873785, 21.06174659729004, 3.461705207824707, 10.07833480834961, -5.0911736488342285, -0.6933926343917847, 0.9903994202613831, -0.8517905473709106, 0.17930589616298676, 0.6305840611457825, 0.2940492331981659, 0.18858256936073303, 0.09310605376958847, 0.6926143169403076, 0.016410116106271744, 0.3205781579017639, 0.06353522837162018, 0.006566082593053579, -0.020653584972023964, -0.0007783917244523764, 0.001955564133822918, -0.00037848600186407566, -0.029549699276685715, -0.00021400008699856699, 0.0018312563188374043, 0.000799556786660105, 0.019292525947093964, -0.03687827289104462, 0.00040448253275826573, 0.001187991234473884, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.0581122636795044, 1.142634630203247, 0.620518684387207, 0.6952557563781738, 0.22231583297252655, 0.2967679798603058, 0.25090768933296204, 0.11940345168113708, 0.09848393499851227, 0.10822360217571259, 0.07847095280885696, 0.011023664847016335, 0.06904634088277817, 0.04214343801140785, 0.014610526151955128, 0.005549692083150148, 0.06605532020330429, 0.04950568825006485, 0.01000956166535616, 3.2883901440072805e-05, 0.054101500660181046, 0.12414713203907013, 0.02265101484954357, 0.007224463392049074, 0.00030545261688530445, 0.09564737230539322, 0.07464902848005295, 0.024785038083791733, 0.009680720046162605, 4.766543388366699, 2.5805160999298096, 3.376559257507324, 1.6676183938980103, 0.2131609171628952, 1.3198153972625732, 1.0383189916610718, 0.689432680606842, 1.1214570999145508, 0.5067285299301147, 0.42694875597953796, 0.15975624322891235, 0.9509186148643494, 0.3295873701572418, 0.46346724033355713, 0.109761081635952, 0.04952612891793251, 0.05773928016424179, 0.020542392507195473, 0.007771781180053949, 0.04649493098258972, 0.058104779571294785, 0.010323772206902504, 0.011529238894581795, 0.016298221424221992, 0.07945677638053894, 0.08918791264295578, 0.01612151972949505, 0.004963443614542484, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1412]}, "observation.state.tcp": {"min": [0.3617527484893799, 0.19115646183490753, 0.9230991005897522, -1.209064245223999, 1.181776523590088, -1.3733041286468506, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.29557716846466064, -0.27637580037117004, 0.9104723334312439, -0.20112763345241547, 1.2182674407958984, 0.45020684599876404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4842623472213745, 0.2642458379268646, 1.0517752170562744, -0.8950396180152893, 1.6337264776229858, -1.228946566581726, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4927431643009186, -0.05375707894563675, 1.051800012588501, 1.3226830959320068, 2.1464667320251465, 1.3591281175613403, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.47109925746917725, 0.24925494194030762, 0.9582120180130005, -1.0927884578704834, 1.482380747795105, -1.349310278892517, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.34195753931999207, -0.1668749302625656, 0.9391151666641235, 0.1795840561389923, 1.9158028364181519, 0.757701575756073, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01957414299249649, 0.012102268636226654, 0.02247144840657711, 0.06227937713265419, 0.10546781122684479, 0.022368082776665688, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.035444337874650955, 0.05892222374677658, 0.02999809943139553, 0.28223347663879395, 0.1792740523815155, 0.1871536523103714, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1412]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.15626710653305054, 1.0491055250167847, -0.07785071432590485, -0.7699999809265137, 0.43326225876808167, 0.0, -0.24820667505264282, 0.0, 0.0, 0.0, -0.13044032454490662, 0.0, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.159237340092659, -0.016287870705127716, 0.0, 0.0, 0.0, -0.15098746120929718, -0.1362261176109314, 0.0, 0.0, 1.0288997888565063, -0.9415334463119507, -0.2332645207643509, 0.9969301819801331, -1.365263819694519, -0.8219425082206726, -0.31024467945098877, 0.0, -0.3210619390010834, 0.0, -0.2815704941749573, -0.17366984486579895, 0.0, -0.05271989852190018, 0.0, 0.0, 0.0, -0.021273262798786163, 0.0, 0.0, 0.0, -0.04437882453203201, 0.0, 0.0, 0.0, -0.04970112070441246, -0.051281996071338654, 0.0, 0.0, 0.5607667565345764, -1.107054591178894, 0.5442397594451904, -0.04530278965830803, -0.09077291190624237, 0.0, -0.8726646304130554], "max": [1.2195333242416382, -0.6314824223518372, 0.0, 1.5700000524520874, 0.0, -0.12025634199380875, 0.8071469664573669, 1.213953971862793, 0.0, 0.42869433760643005, 0.32550233602523804, 0.4822549521923065, 0.7543936371803284, 0.08064072579145432, 0.14119665324687958, 0.2965088486671448, 0.4953787326812744, 0.10786860436201096, 0.06564489752054214, 0.0, 0.0, 0.11160772293806076, 0.2976163923740387, 0.3305155634880066, 0.013048410415649414, 0.056099820882081985, 0.015062741935253143, 0.17542991042137146, 0.15036849677562714, 1.3304387331008911, -0.3536071479320526, -0.0002811175654642284, 1.6988234519958496, 0.19054973125457764, -0.1574808806180954, 0.5197569727897644, 1.5001319646835327, 0.0, 0.7579269409179688, 0.3490658402442932, 0.36734578013420105, 1.1776179075241089, 0.28561872243881226, 0.5921937823295593, 1.141568899154663, 1.5707963705062866, 0.2889742851257324, 1.734256625175476, 1.3962633609771729, 1.5707963705062866, 0.2343263030052185, 1.7453292608261108, 1.387629508972168, 0.08393367379903793, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.1068633794784546, 0.6956145167350769, 0.0, 0.0, 0.2599584758281708, -0.599981963634491], "mean": [1.172641396522522, -0.7255924940109253, -0.14519499242305756, 1.1057568788528442, -0.07514864206314087, -0.23083946108818054, 0.5279073119163513, 1.1596230268478394, -0.21990783512592316, 0.27619314193725586, 0.29119420051574707, 0.4662041664123535, 0.41080430150032043, 0.06557586789131165, 0.09634144604206085, 0.2804979383945465, 0.2247476726770401, 0.08896500617265701, 0.035435501486063004, 0.0, -0.006908434443175793, 0.08447606861591339, 0.22651426494121552, 0.317167729139328, 0.008834391832351685, 0.01336340419948101, -0.00849076360464096, 0.10591550171375275, 0.09073271602392197, 1.0815006494522095, -0.6731767654418945, -0.21363116800785065, 1.4618972539901733, -1.177474856376648, -0.5082380175590515, -0.07561022788286209, 1.3098950386047363, -0.25663015246391296, 0.5697786211967468, -0.022912386804819107, 0.1158175989985466, 0.9396395087242126, 0.17224815487861633, 0.08340819925069809, 0.6243928670883179, 1.4581420421600342, 0.1479070782661438, 1.538436770439148, 1.237099051475525, 1.4522886276245117, 0.09455351531505585, 1.606619954109192, 1.1767852306365967, 0.07118285447359085, 1.445253849029541, 0.21152888238430023, 1.6290326118469238, 1.3032023906707764, 0.5610920190811157, -1.106943964958191, 0.670783519744873, -0.0361679270863533, -0.06073855608701706, 0.21716830134391785, -0.8601794242858887], "std": [0.031460344791412354, 0.018103361129760742, 0.024638794362545013, 0.07680434733629227, 0.012309516780078411, 0.11457143723964691, 0.07370142638683319, 0.2027166485786438, 0.04282475635409355, 0.10624419897794724, 0.05455680191516876, 0.08650819957256317, 0.23213015496730804, 0.013010261580348015, 0.03516698256134987, 0.052182525396347046, 0.1810380071401596, 0.01995938830077648, 0.018810613080859184, 0.0, 0.026684580370783806, 0.030913278460502625, 0.09339850395917892, 0.058879218995571136, 0.005291481036692858, 0.05438102409243584, 0.03606614097952843, 0.051610324531793594, 0.04434281215071678, 0.051020264625549316, 0.1370203197002411, 0.033076003193855286, 0.14184564352035522, 0.31697505712509155, 0.10054173320531845, 0.17676429450511932, 0.23170976340770721, 0.05932362750172615, 0.18710409104824066, 0.10665587335824966, 0.14665044844150543, 0.2457808256149292, 0.0604436919093132, 0.07858976721763611, 0.3189278542995453, 0.3913711905479431, 0.04819171503186226, 0.45665693283081055, 0.36437734961509705, 0.4059053659439087, 0.03857332840561867, 0.46716341376304626, 0.34632065892219543, 0.020910179242491722, 0.42534568905830383, 0.06778746098279953, 0.41083699464797974, 0.32867011427879333, 0.00024298195785377175, 1.8300299416296184e-05, 0.027620013803243637, 0.009144814684987068, 0.010365184396505356, 0.0457456037402153, 0.050843026489019394], "count": [1412]}, "observation.state.tcp_pose": {"min": [0.3617527484893799, 0.19115646183490753, 0.9230991005897522, -1.209064245223999, 1.181776523590088, -1.3733041286468506, 0.29557716846466064, -0.27637580037117004, 0.9104723334312439, -0.20112763345241547, 1.2182674407958984, 0.45020684599876404], "max": [0.4842623472213745, 0.2642458379268646, 1.0517752170562744, -0.8950396180152893, 1.6337264776229858, -1.228946566581726, 0.4927431643009186, -0.05375707894563675, 1.051800012588501, 1.3226830959320068, 2.1464667320251465, 1.3591281175613403], "mean": [0.47109925746917725, 0.24925494194030762, 0.9582120180130005, -1.0927884578704834, 1.482380747795105, -1.349310278892517, 0.34195753931999207, -0.1668749302625656, 0.9391151666641235, 0.1795840561389923, 1.9158028364181519, 0.757701575756073], "std": [0.01957414299249649, 0.012102268636226654, 0.02247144840657711, 0.06227937713265419, 0.10546781122684479, 0.022368082776665688, 0.035444337874650955, 0.05892222374677658, 0.02999809943139553, 0.28223347663879395, 0.1792740523815155, 0.1871536523103714], "count": [1412]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.18774721026420593, 0.925787627696991, -1.208855390548706, 1.104374885559082, -1.3981236219406128, 0.29565155506134033, -0.2765389680862427, 0.910334050655365, -0.20128168165683746, 1.21841299533844, 0.44993337988853455], "max": [0.48419561982154846, 0.2626889944076538, 1.0518032312393188, -0.8222901821136475, 1.6329514980316162, -1.2289544343948364, 0.4933931231498718, -0.05384250357747078, 1.0516520738601685, 1.3230797052383423, 2.146585702896118, 1.357880711555481], "mean": [0.47113776206970215, 0.24923160672187805, 0.9583419561386108, -1.091079592704773, 1.4804457426071167, -1.3503996133804321, 0.34205496311187744, -0.16701316833496094, 0.9391394853591919, 0.1790768951177597, 1.915539264678955, 0.756999671459198], "std": [0.019646696746349335, 0.012089772149920464, 0.02243177406489849, 0.06714469194412231, 0.1096208393573761, 0.02245989628136158, 0.03560264781117439, 0.05888747423887253, 0.03000910021364689, 0.28111153841018677, 0.17930388450622559, 0.18633081018924713], "count": [1412]}, "subtask_index": {"min": [64], "max": [1100], "mean": [1087.8186968838527], "std": [38.914062235413844], "count": [1412]}, "observation.tactile": {"min": [-0.012979242019355297, -3.974451101385057e-05, -8.967781468527392e-05, -0.0006094821728765965, -0.0001626788725843653, -0.000156400739797391, -0.006352861877530813, -2.568273339420557e-05, -5.4905049182707444e-05, -0.00115640414878726, -3.385065429029055e-05, -0.0001378679007757455, -0.015867143869400024, -3.22885753121227e-05, -7.154716149671003e-05, -0.0012549409875646234, -5.015808346797712e-05, -0.0003443355963099748, -0.3413485586643219, -3.3712898584781215e-05, -7.3604031058494e-05, -0.0010451443959027529, -0.000163715158123523, -0.004358344245702028, -0.002268265699967742, -5.994112143525854e-05, -0.00013536786718759686, -0.0006468665087595582, -2.9360438929870725e-05, -5.109380072099157e-05, -0.1379154473543167, -3.8308069633785635e-05, -8.516605157637969e-05, -0.20314627885818481, -0.0005956547101959586, -0.01906253583729267, -6.536499500274658, 0.0, 0.0, -0.33494290709495544, -0.022459108382463455, -0.12315811961889267, -0.004414442926645279, -4.809279562323354e-05, -0.00010622163972584531, -0.0010001262417063117, -2.829246295732446e-05, -0.0001221659331349656, -0.008063256740570068, -4.110867666895501e-05, -9.000538557302207e-05, -0.0012926544295623899, -6.639519415330142e-05, -0.0001866299717221409, -0.008758790791034698, -4.0160903154173866e-05, -8.972934301709756e-05, -0.0010226881131529808, -5.4481140978168696e-05, -0.00018805716536007822], "max": [0.00031250258325599134, 0.012956798076629639, 0.0373297780752182, 1.722253045954858e-06, 0.000179166323505342, 6.632273198192706e-06, 0.003359692171216011, 0.020821215584874153, 0.058285173028707504, 9.966508969228016e-07, 0.00011001086386386305, 3.087373625021428e-05, 0.0003278411168139428, 0.020613305270671844, 0.06162938103079796, 1.357414021185832e-06, 0.00011493172496557236, 5.3655585361411795e-06, 0.00026118900859728456, 0.04451633244752884, 0.08631209284067154, 1.3302351362654008e-06, 0.00016920101188588887, 5.3908638619759586e-06, 0.047775305807590485, 0.01267295703291893, 0.03528187423944473, 2.590011717984453e-06, 7.497276237700135e-05, 0.0006985518848523498, 5.602269172668457, 7.838895320892334, 8.966291427612305, 1.5557092183371424e-06, 0.02658984437584877, 0.11762160062789917, 3.1720240116119385, 12.826390266418457, 15.97066593170166, 0.0, 0.011554027907550335, 0.07310221344232559, 0.02023128606379032, 0.018188929185271263, 0.0569535568356514, 1.9415160750213545e-06, 0.0003164903318975121, 0.0003077699220739305, 0.010684658773243427, 0.026164768263697624, 0.07704684883356094, 1.6633593986625783e-06, 0.00030101227457635105, 0.00014139192353468388, 0.002956169890239835, 0.01675512082874775, 0.04753677546977997, 1.6771629134382238e-06, 0.00013713643420487642, 3.2948271837085485e-05], "mean": [-6.776765076210722e-05, 0.0007390413084067404, 0.0021484859753400087, -3.0816863727523014e-05, 2.2605004801334871e-07, 4.4388079345480946e-07, 4.298012936487794e-05, 0.0007165046408772469, 0.002166135935112834, -3.5393208236200735e-05, 4.589416676026303e-06, -4.103901574126212e-07, -0.002207547426223755, 0.0035326166544109583, 0.01029111910611391, -0.00019652809714898467, 1.7035872588166967e-05, -4.76957720820792e-05, -0.010939321480691433, 0.0024649156257510185, 0.006122204940766096, -8.58967105159536e-05, -8.15200837678276e-06, -0.00014128972543403506, 0.0005176529521122575, 0.0007445718511007726, 0.0021867144387215376, -4.308284042053856e-05, 3.483342652543797e-06, 7.735117833362892e-06, 0.9908520579338074, 1.7041563987731934, 2.29822039604187, -0.04664817079901695, 0.0044401586055755615, 0.017933769151568413, -1.0053309202194214, 3.019608974456787, 4.520683288574219, -0.09491866827011108, -0.003612478729337454, -0.017866358160972595, 0.0002737671311479062, 0.0023630326613783836, 0.006938706152141094, -0.00014009932056069374, 1.941942173289135e-05, -2.5020392513397383e-06, -0.00047663686564192176, 0.005270694382488728, 0.015277794562280178, -0.00025852565886452794, 3.129873221041635e-05, -2.0004397811135277e-05, -0.000787140044849366, 0.0024880124256014824, 0.007132926490157843, -0.0001575183996465057, 1.048504145728657e-06, -1.8264810933033004e-05], "std": [0.0008880853420123458, 0.0015554832061752677, 0.004474773071706295, 6.620480417041108e-05, 1.716060796752572e-05, 1.2195620001875795e-05, 0.0005927341408096254, 0.001678762724623084, 0.005005210638046265, 8.442100079264492e-05, 1.5039661775517743e-05, 1.067958783096401e-05, 0.0033366060815751553, 0.005125591531395912, 0.014885449782013893, 0.00028630130691453815, 2.822017813741695e-05, 7.202736742328852e-05, 0.02980571985244751, 0.005338459275662899, 0.01257810927927494, 0.00016935510211624205, 2.3395989046548493e-05, 0.00038650105125270784, 0.0030274668242782354, 0.0015016937395557761, 0.004257739521563053, 8.329228148795664e-05, 1.0759369615698233e-05, 4.505084871198051e-05, 1.5736616849899292, 2.402909517288208, 3.1007437705993652, 0.06365420669317245, 0.006791531573981047, 0.030851658433675766, 1.8760508298873901, 3.892042636871338, 5.696808815002441, 0.11817586421966553, 0.0058487094938755035, 0.03479037061333656, 0.0014101765118539333, 0.0029147109016776085, 0.008559425361454487, 0.00016910363046918064, 3.3800086384871975e-05, 1.9501236238284037e-05, 0.0016585416160523891, 0.004934805445373058, 0.014172995463013649, 0.0002650202950462699, 4.4778367737308145e-05, 3.5099110391456634e-05, 0.001230355934239924, 0.003076444612815976, 0.008792513981461525, 0.00019765860633924603, 1.645462543820031e-05, 2.670379399205558e-05], "count": [1412]}, "timestamp": {"min": [0.0], "max": [47.03333333333333], "mean": [23.516666666666666], "std": [13.586972927526327], "count": [1412]}, "frame_index": {"min": [0], "max": [1411], "mean": [705.5], "std": [407.60918782578983], "count": [1412]}, "episode_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1412]}, "index": {"min": [60176], "max": [61587], "mean": [60881.5], "std": [407.60918782578983], "count": [1412]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1412]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5416516065597534]], [[0.5415186882019043]], [[0.5432703495025635]]], "std": [[[0.29791542887687683]], [[0.2982223629951477]], [[0.29922276735305786]]], "count": [1412]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24681565165519714]], [[0.24692898988723755]], [[0.2467404156923294]]], "std": [[[0.15543656051158905]], [[0.15632113814353943]], [[0.1555999219417572]]], "count": [1412]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.18611419200897217]], [[0.18630163371562958]], [[0.1850271075963974]]], "std": [[[0.12303856760263443]], [[0.12286645919084549]], [[0.12538594007492065]]], "count": [1412]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5461145639419556]], [[0.5461409687995911]], [[0.5476598739624023]]], "std": [[[0.29902949929237366]], [[0.29932424426078796]], [[0.3009272515773773]]], "count": [1412]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6392157077789307]], [[0.6392157077789307]], [[0.6392157077789307]]], "mean": [[[0.0018877220572903752]], [[0.0018877220572903752]], [[0.0018877220572903752]]], "std": [[[0.026496389880776405]], [[0.026496389880776405]], [[0.026496389880776405]]], "count": [1412]}, "observation.images.tactile_raw": {"min": [[[0.019607843831181526]], [[0.019607843831181526]], [[0.019607843831181526]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4676324427127838]], [[0.4676324427127838]], [[0.4676324427127838]]], "std": [[[0.2348465472459793]], [[0.2348465472459793]], [[0.2348465472459793]]], "count": [1412]}}}
+{"episode_index": 36, "stats": {"observation.state": {"min": [1.0499838590621948, -0.7800381779670715, -0.14305581152439117, 1.0789600610733032, -0.16193887591362, -0.7700520753860474, 0.4949854016304016, 0.0062646144069731236, -0.2105383723974228, -0.001125248265452683, 0.0054510426707565784, 0.0030754783656448126, -0.08583396673202515, 6.721589306835085e-05, 0.0034779072739183903, 0.0008500416879542172, -0.1728331744670868, 0.00016362406313419342, 0.0034559243358671665, 0.0007923966622911394, -0.15168635547161102, -0.006972810719162226, 0.006823207717388868, 0.0008030388853512704, 0.013243420980870724, -0.1398160755634308, -0.03830580785870552, 0.003525064093992114, 0.0008491548360325396, 1.042556643486023, -0.8095067143440247, -0.2327025979757309, 1.0866222381591797, -1.3643200397491455, -0.7697707414627075, -0.3849504590034485, 0.006273828446865082, -0.301287978887558, 0.003043909091502428, -0.25111106038093567, 0.0034771980717778206, 0.005143257323652506, -0.0850975289940834, 0.003128308104351163, 0.0008003783295862377, 0.003647821955382824, -0.010386110283434391, 0.002647166373208165, 0.000846050854306668, -0.002827245509251952, -0.033864397555589676, 0.003465852001681924, 0.0008611272787675261, 0.0054823243990540504, -0.053754471242427826, -0.03747370466589928, 0.0034704613499343395, 0.0008895063074305654, 0.5604782104492188, -1.107150673866272, 0.5441796779632568, -0.02665291540324688, -0.051963597536087036, -0.0001917476038215682, -0.8729309439659119], "max": [1.2220137119293213, -0.5900347828865051, 8.868326403899118e-06, 1.570013165473938, 3.906857091351412e-05, -0.10855419188737869, 0.6981784105300903, 1.161935806274414, 0.00017218511493410915, 0.2558783292770386, 0.3106296956539154, 0.4796225130558014, 0.6041423678398132, 0.07167444378137589, 0.09688501805067062, 0.2882585823535919, 0.41860783100128174, 0.10779474675655365, 0.07937456667423248, 0.02250681445002556, 0.00042660124017857015, 0.0983329713344574, 0.2460521012544632, 0.33678147196769714, 0.014083643443882465, -0.007088108453899622, -0.0007425661315210164, 0.026235878467559814, 0.022275349125266075, 1.3485161066055298, -0.34286415576934814, -0.00020193419186398387, 1.674790620803833, 0.18915840983390808, -0.1605110764503479, 0.5197523832321167, 1.5147850513458252, -9.268752910429612e-05, 0.8011496663093567, 0.3160608410835266, 0.46290701627731323, 1.0949780941009521, 0.25750091671943665, 1.017880916595459, 0.9068508148193359, 1.4703317880630493, 0.25735488533973694, 1.6556891202926636, 1.308244228363037, 1.4686226844787598, 0.20636050403118134, 1.6548597812652588, 1.3082464933395386, 0.061643507331609726, 1.4685790538787842, 0.3127981722354889, 1.6553126573562622, 1.3082135915756226, 0.5627791881561279, -1.1062877178192139, 0.700549840927124, 9.58738019107841e-05, 0.0023968450259417295, 0.21686653792858124, -0.5997864603996277], "mean": [1.1566067934036255, -0.7332207560539246, -0.13028563559055328, 1.1382601261138916, -0.11280079931020737, -0.22525598108768463, 0.5555204153060913, 1.110629916191101, -0.1949942409992218, 0.17063772678375244, 0.28770458698272705, 0.459528386592865, 0.19262905418872833, 0.054914139211177826, 0.0877976268529892, 0.2743908166885376, -0.03660790994763374, 0.07095769047737122, 0.03114936500787735, 0.01854417473077774, -0.04072456434369087, 0.05445624142885208, 0.12143056094646454, 0.32074859738349915, 0.013585550710558891, -0.07434474676847458, -0.03083622083067894, 0.011191368103027344, 0.009416169486939907, 1.1136585474014282, -0.6701087355613708, -0.2204069197177887, 1.483005166053772, -1.170225739479065, -0.4371202886104584, -0.08835989981889725, 1.3314272165298462, -0.2453431338071823, 0.5769113898277283, -0.028855012729763985, 0.14545854926109314, 0.9030770063400269, 0.16923122107982635, 0.12405805289745331, 0.528118371963501, 1.3477383852005005, 0.15148112177848816, 1.4846454858779907, 1.1762968301773071, 1.3408877849578857, 0.11289100348949432, 1.495375394821167, 1.1824967861175537, 0.05551893264055252, 1.328852653503418, 0.22048261761665344, 1.5236563682556152, 1.2037068605422974, 0.560828447341919, -1.106946349143982, 0.6640127301216125, -0.02006552182137966, -0.01870187744498253, 0.16742953658103943, -0.8591833114624023], "std": [0.028711460530757904, 0.02689911238849163, 0.024772929027676582, 0.0794147476553917, 0.02285054512321949, 0.11876056343317032, 0.055402934551239014, 0.20756390690803528, 0.038633961230516434, 0.052699457854032516, 0.05565432086586952, 0.0896867886185646, 0.15787442028522491, 0.012910901568830013, 0.024135950952768326, 0.0538509301841259, 0.0606328509747982, 0.01552502065896988, 0.015172523446381092, 0.004657756071537733, 0.027955124154686928, 0.024907970800995827, 0.08462297916412354, 0.06303872168064117, 0.00023907478316687047, 0.040883101522922516, 0.008064608089625835, 0.007370321545749903, 0.007423556875437498, 0.055467210710048676, 0.11875315010547638, 0.0350247398018837, 0.14436665177345276, 0.3361313045024872, 0.12626416981220245, 0.2174089401960373, 0.24658988416194916, 0.05374831333756447, 0.1840945929288864, 0.10655281692743301, 0.13514213263988495, 0.2536143958568573, 0.07404260337352753, 0.1816510707139969, 0.2821475565433502, 0.3802992105484009, 0.05275832489132881, 0.47769442200660706, 0.3782270550727844, 0.39718252420425415, 0.044156331568956375, 0.47752511501312256, 0.37581121921539307, 0.015782998874783516, 0.42409271001815796, 0.07551731169223785, 0.4237287640571594, 0.334745854139328, 0.0003273635811638087, 8.379347127629444e-05, 0.0293948445469141, 0.006320550572127104, 0.009983035735785961, 0.04350052773952484, 0.05004611983895302], "count": [1198]}, "observation.state.joint_torque": {"min": [-41.24100112915039, -9.161999702453613, -18.32900047302246, -9.958999633789062, -0.6015999913215637, -1.1959999799728394, 1.0080000162124634, -0.6927989721298218, -0.6431313753128052, -0.19137419760227203, -0.46476590633392334, -0.15606407821178436, -0.3578801453113556, -0.2273930162191391, -0.1062563955783844, -0.03424813970923424, -0.2552174925804138, -0.23123088479042053, -0.07637178897857666, -0.032821137458086014, -0.40105605125427246, -0.5497729778289795, -0.12783971428871155, -0.04709119349718094, -0.001759204315021634, -0.3905019462108612, -0.3693937659263611, -0.04980768263339996, -0.03781566023826599, -0.9449999928474426, -15.437999725341797, -8.291000366210938, -14.696000099182129, -1.5759999752044678, -5.852799892425537, -3.5848000049591064, -1.4721977710723877, -0.6953459978103638, -0.3790203332901001, -0.9220757484436035, -0.1062563955783844, -0.45574551820755005, -0.9431533217430115, -1.0575830936431885, -0.17552173137664795, -0.5996651649475098, -0.871193528175354, -0.1145576685667038, -0.06492877006530762, -0.29743391275405884, -0.3952992558479309, -0.11123716086149216, -0.04709119349718094, -0.13413932919502258, -0.6159760355949402, -0.6265301704406738, -0.09961536526679993, -0.028540121391415596, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-16.80299949645996, 17.88599967956543, -5.548999786376953, 5.326000213623047, 1.8431999683380127, 1.8248000144958496, 3.018399953842163, 0.5119580626487732, 0.3858788311481476, 0.5915202498435974, 0.6188593506813049, 0.12119869887828827, 0.35404229164123535, 0.2648121416568756, 0.1328205019235611, 0.014983562752604485, 0.39913710951805115, 0.18037928640842438, 0.0796922892332077, 0.021405089646577835, 0.25233909487724304, 0.7435848116874695, 0.11953844130039215, 0.01855107769370079, 0.002638806588947773, 0.5171512365341187, 0.16694676876068115, 0.09629485011100769, 0.016410568729043007, 44.93550109863281, 17.73900032043457, 21.871000289916992, 4.896999835968018, 0.7888000011444092, 3.337599992752075, 2.9200000762939453, 2.1025938987731934, 4.158067226409912, 1.9062857627868652, 1.745978832244873, 0.5478845238685608, 2.1444027423858643, 1.4900479316711426, 1.0575830936431885, 0.21405088901519775, 1.5159534215927124, 0.3012717664241791, 0.11621791869401932, 0.14198710024356842, 1.4804532527923584, 0.31182587146759033, 0.20753200352191925, 0.13913308084011078, 0.11258907616138458, 1.2741684913635254, 0.3262178599834442, 0.7122498750686646, 0.14412759244441986, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.001163482666016, 4.72991418838501, -12.269272804260254, -2.390714168548584, 0.2067054957151413, 0.250852108001709, 2.1247947216033936, -0.028662867844104767, -0.041753239929676056, 0.07822933048009872, 0.020984724164009094, -0.00026192807126790285, 0.06175572797656059, -0.008716066367924213, 0.0011516474187374115, 0.00043000790174119174, 0.02651175856590271, -0.02643488720059395, 0.004984928295016289, -2.3823304218240082e-05, 0.002424315083771944, 0.07321803271770477, 0.013850261457264423, -0.00027932701050303876, -6.864999159006402e-05, 0.053874190896749496, -0.024845115840435028, 0.0029283098410815, -0.0041106827557086945, 21.963096618652344, 2.511464834213257, 10.824992179870605, -5.344345569610596, -0.7068731784820557, 1.0944803953170776, -1.0137957334518433, 0.13934506475925446, 0.803977370262146, 0.4302671253681183, 0.28120261430740356, 0.08013712614774704, 0.9494297504425049, 0.01440477091819048, 0.44156745076179504, 0.08587726205587387, 0.0012101150350645185, -0.05291389673948288, 0.00031320014386437833, 0.0019469469552859664, 0.008366867899894714, -0.027921320870518684, 0.00028132801526226103, -0.000737921625841409, 0.00010830374230863526, 0.024669717997312546, -0.04431389272212982, 0.001218169927597046, 0.0012894261162728071, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.2824000120162964, 1.3281548023223877, 0.6876529455184937, 0.8294128179550171, 0.2641245424747467, 0.3006146252155304, 0.22309407591819763, 0.12649664282798767, 0.10311820358037949, 0.08552556484937668, 0.09371351450681686, 0.01367658469825983, 0.06930425018072128, 0.04711620882153511, 0.014517947100102901, 0.004888458177447319, 0.05811983346939087, 0.043137189000844955, 0.012472734786570072, 0.005518523510545492, 0.08912508934736252, 0.14981386065483093, 0.023413104936480522, 0.0063916658982634544, 0.00037775293458253145, 0.09185682237148285, 0.06116609647870064, 0.012864599004387856, 0.010221180506050587, 3.757591485977173, 2.4206838607788086, 2.318770170211792, 1.5892277956008911, 0.245283305644989, 0.8931172490119934, 0.7306912541389465, 0.6569623947143555, 1.0848573446273804, 0.5397780537605286, 0.5275294780731201, 0.1294817477464676, 1.0227853059768677, 0.15503272414207458, 0.5223390460014343, 0.11338471621274948, 0.10156296193599701, 0.12990862131118774, 0.016820985823869705, 0.008869187906384468, 0.07364314049482346, 0.05682273581624031, 0.013570261187851429, 0.010755752213299274, 0.01737373135983944, 0.08204764127731323, 0.09392217546701431, 0.026732994243502617, 0.007733952719718218, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1198]}, "observation.state.tcp": {"min": [0.3617754280567169, 0.1918572187423706, 0.9377298355102539, -1.20944082736969, 1.2096672058105469, -1.3948637247085571, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.30885884165763855, -0.2363908886909485, 0.9126386046409607, -0.26079291105270386, 1.218216896057129, 0.5572414398193359, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.47228896617889404, 0.27568426728248596, 1.0518418550491333, -0.8075769543647766, 1.5751367807388306, -1.2287205457687378, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49323001503944397, -0.019352532923221588, 1.0573582649230957, 1.32789146900177, 2.2080798149108887, 1.3928186893463135, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4527900218963623, 0.2621305286884308, 0.9676819443702698, -1.052334189414978, 1.461136817932129, -1.353553056716919, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3495436906814575, -0.14140914380550385, 0.9461570978164673, 0.10933473706245422, 1.9620277881622314, 0.8178108930587769, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01742544211447239, 0.017550798133015633, 0.02230890654027462, 0.07118960469961166, 0.0917469933629036, 0.02785273641347885, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03654438629746437, 0.04708344489336014, 0.03341725096106529, 0.3415384590625763, 0.20918065309524536, 0.17156925797462463, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1198]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.14304588735103607, 1.0786542892456055, -0.16183744370937347, -0.7699999809265137, 0.4947623908519745, 0.0, -0.21848541498184204, 0.0, 0.0, 0.0, -0.1039055734872818, 0.0, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.1736268699169159, -0.011398382484912872, 0.0, 0.0, 0.0, -0.15141911804676056, -0.15194934606552124, 0.0, 0.0, 1.042547583580017, -0.8095324039459229, -0.2326892614364624, 1.0865639448165894, -1.364305019378662, -0.7693520784378052, -0.3850158751010895, 0.0, -0.307544082403183, 0.0, -0.25338369607925415, -0.17443707585334778, 0.0, -0.08560461550951004, 0.0, 0.0, 0.0, -0.014945633709430695, 0.0, 0.0, 0.0, -0.0389140322804451, 0.0, 0.0, 0.0, -0.05643131956458092, -0.0924115851521492, 0.0, 0.0, 0.5606699585914612, -1.1070547103881836, 0.5442397594451904, -0.026982281357049942, -0.057237233966588974, 0.0, -0.8726646304130554], "max": [1.2220213413238525, -0.5898102521896362, 0.0, 1.5700000524520874, 0.0, -0.10882609337568283, 0.7407227158546448, 1.1713860034942627, 0.0, 0.261989027261734, 0.3165859580039978, 0.4822549521923065, 0.6111958026885986, 0.07287495583295822, 0.1070723906159401, 0.2913987934589386, 0.4265226423740387, 0.10825245827436447, 0.08615991473197937, 0.024179361760616302, 0.0, 0.10738938301801682, 0.25216802954673767, 0.34074530005455017, 0.0, 0.0, 0.0, 0.03087136708199978, 0.026461170986294746, 1.3490512371063232, -0.34285473823547363, -0.000768774189054966, 1.6748929023742676, 0.18925777077674866, -0.1604606807231903, 0.5193338990211487, 1.522806167602539, 0.0, 0.8017411231994629, 0.3490658402442932, 0.46830126643180847, 1.1858631372451782, 0.2708541750907898, 1.0900282859802246, 0.9277224540710449, 1.5707963705062866, 0.25982868671417236, 1.7453292608261108, 1.3962633609771729, 1.5707963705062866, 0.20815271139144897, 1.7453292608261108, 1.3962633609771729, 0.07945254445075989, 1.5707963705062866, 0.33834928274154663, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.1068676710128784, 0.7018439173698425, 0.0, 0.002959489356726408, 0.2171577513217926, -0.6000000238418579], "mean": [1.1566215753555298, -0.7331411242485046, -0.13030290603637695, 1.1381781101226807, -0.11282890290021896, -0.22542038559913635, 0.5572682023048401, 1.1125565767288208, -0.19983327388763428, 0.17325685918331146, 0.2898785471916199, 0.4613271951675415, 0.19658254086971283, 0.054741181433200836, 0.09217982739210129, 0.27706703543663025, -0.03481283783912659, 0.07354063540697098, 0.035582948476076126, 0.020209072157740593, -0.040594037622213364, 0.06081734225153923, 0.12377151101827621, 0.3227626085281372, 0.0, -0.07205674797296524, -0.07240385562181473, 0.012756682001054287, 0.01045912317931652, 1.113855004310608, -0.6704002618789673, -0.22046932578086853, 1.4830337762832642, -1.1709675788879395, -0.43730252981185913, -0.08855900913476944, 1.3298580646514893, -0.2440558224916458, 0.5770134925842285, -0.025310922414064407, 0.11186347901821136, 0.9420192241668701, 0.16568119823932648, 0.13923053443431854, 0.5791768431663513, 1.439540147781372, 0.1504383534193039, 1.5253143310546875, 1.219788908958435, 1.433104395866394, 0.10977555066347122, 1.5819653272628784, 1.2476723194122314, 0.06820271909236908, 1.4242031574249268, 0.21776576340198517, 1.6015616655349731, 1.280733585357666, 0.5608341097831726, -1.107050895690918, 0.6640703678131104, -0.02011623978614807, -0.018740011379122734, 0.16747736930847168, -0.8591337203979492], "std": [0.028601571917533875, 0.02707040309906006, 0.024741610512137413, 0.07941840589046478, 0.02282279171049595, 0.11906716972589493, 0.06006912514567375, 0.2262425720691681, 0.04319660738110542, 0.05462450161576271, 0.061859115958213806, 0.09826841950416565, 0.16040612757205963, 0.013762952759861946, 0.027362238615751266, 0.05903345346450806, 0.0574229471385479, 0.017374014481902122, 0.017972443252801895, 0.005576913245022297, 0.03022913448512554, 0.029174571856856346, 0.08852420002222061, 0.06877907365560532, 0.0, 0.044803112745285034, 0.040256842970848083, 0.010502838529646397, 0.009306656196713448, 0.05567985773086548, 0.11857735365629196, 0.03485950455069542, 0.1443924903869629, 0.33415165543556213, 0.1262226104736328, 0.2173117697238922, 0.2649936079978943, 0.05838286876678467, 0.19114220142364502, 0.1118047907948494, 0.17871098220348358, 0.28692570328712463, 0.07091210037469864, 0.18879328668117523, 0.3183240592479706, 0.41839689016342163, 0.05255233868956566, 0.49338090419769287, 0.3925921320915222, 0.43407171964645386, 0.04402804747223854, 0.5039604306221008, 0.3991677463054657, 0.021773144602775574, 0.45500510931015015, 0.08019763231277466, 0.4609827697277069, 0.3701082170009613, 0.0003272474277764559, 2.4228547772509046e-05, 0.02965296059846878, 0.006357833743095398, 0.01013094000518322, 0.04360947012901306, 0.0503498837351799], "count": [1198]}, "observation.state.tcp_pose": {"min": [0.3617754280567169, 0.1918572187423706, 0.9377298355102539, -1.20944082736969, 1.2096672058105469, -1.3948637247085571, 0.30885884165763855, -0.2363908886909485, 0.9126386046409607, -0.26079291105270386, 1.218216896057129, 0.5572414398193359], "max": [0.47228896617889404, 0.27568426728248596, 1.0518418550491333, -0.8075769543647766, 1.5751367807388306, -1.2287205457687378, 0.49323001503944397, -0.019352532923221588, 1.0573582649230957, 1.32789146900177, 2.2080798149108887, 1.3928186893463135], "mean": [0.4527900218963623, 0.2621305286884308, 0.9676819443702698, -1.052334189414978, 1.461136817932129, -1.353553056716919, 0.3495436906814575, -0.14140914380550385, 0.9461570978164673, 0.10933473706245422, 1.9620277881622314, 0.8178108930587769], "std": [0.01742544211447239, 0.017550798133015633, 0.02230890654027462, 0.07118960469961166, 0.0917469933629036, 0.02785273641347885, 0.03654438629746437, 0.04708344489336014, 0.03341725096106529, 0.3415384590625763, 0.20918065309524536, 0.17156925797462463], "count": [1198]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.1924280971288681, 0.940316915512085, -1.208855390548706, 1.1924370527267456, -1.4214485883712769, 0.30880579352378845, -0.23794758319854736, 0.9126998782157898, -0.2610955834388733, 1.2189966440200806, 0.5566534996032715], "max": [0.47012999653816223, 0.2758914828300476, 1.0518032312393188, -0.779263436794281, 1.5681620836257935, -1.2289544343948364, 0.4934420883655548, -0.019424203783273697, 1.0563273429870605, 1.3317136764526367, 2.2083606719970703, 1.3909077644348145], "mean": [0.45277783274650574, 0.2620862126350403, 0.9677785038948059, -1.0510462522506714, 1.4597338438034058, -1.3543944358825684, 0.34957197308540344, -0.14155417680740356, 0.9462244510650635, 0.10871930420398712, 1.9618101119995117, 0.8172051310539246], "std": [0.017472393810749054, 0.017480134963989258, 0.02206229418516159, 0.07414329051971436, 0.09403416514396667, 0.02841450646519661, 0.036725811660289764, 0.04694207385182381, 0.03361298516392708, 0.33988991379737854, 0.20915989577770233, 0.17121419310569763], "count": [1198]}, "subtask_index": {"min": [1101], "max": [1121], "mean": [1110.4073455759599], "std": [5.679181393588201], "count": [1198]}, "observation.tactile": {"min": [-0.017532678321003914, -3.512117837090045e-05, -7.94487859820947e-05, -0.0010475750314071774, -0.00024840718833729625, -0.0003024396428372711, -0.0046089221723377705, -2.2466887457994744e-05, -4.504192474996671e-05, -0.0014229031512513757, -1.5501389498240314e-05, -0.00011639513104455546, -0.011528482660651207, -3.62791251973249e-05, -8.062741108005866e-05, -0.0014831899898126721, -4.929738133796491e-05, -0.0002503707946743816, -0.006395192816853523, -2.7136606149724685e-05, -6.0692829720210284e-05, -0.0009507741197012365, -8.188415813492611e-05, -0.00012880365829914808, -0.0006390116759575903, -5.657959991367534e-05, -0.00012812063505407423, -0.00038900901563465595, -1.2351214536465704e-05, -2.9391418138402514e-05, -1.688005805015564, -3.987186209997162e-05, -8.815630280878395e-05, -0.16583670675754547, -0.006709896959364414, -0.041767802089452744, -6.407956600189209, 0.0, 0.0, -0.3282136619091034, -0.022901488468050957, -0.13002723455429077, -0.005363004747778177, -4.879241168964654e-05, -0.00010904265946010128, -0.0008265236392617226, -3.338474562042393e-05, -0.00013222615234553814, -0.010483411140739918, -4.637958045350388e-05, -0.00010134159674635157, -0.001366999582387507, -8.057663217186928e-05, -0.00020173117809463292, -0.013923541642725468, -3.8606773159699515e-05, -8.489660103805363e-05, -0.0018442552536725998, -0.00010265212767990306, -0.00029690127121284604], "max": [0.0018138010054826736, 0.018644893541932106, 0.054618459194898605, 1.5398468349303585e-06, 0.00017260503955185413, 5.888920441066148e-06, 0.019575851038098335, 0.025206008926033974, 0.0742066353559494, 8.113815965771209e-07, 0.0004422431520652026, 0.00028211463359184563, 0.018706034868955612, 0.026087084785103798, 0.07622978836297989, 1.5006241937953746e-06, 0.00010752890375442803, 0.0002852435573004186, 0.01472402736544609, 0.015588697046041489, 0.04364722594618797, 1.0889144732573186e-06, 0.00026394749875180423, 0.00017090170877054334, 0.0009252082090824842, 0.006615467835217714, 0.01851988397538662, 2.4521141313016415e-06, 5.9680598496925086e-05, 8.680395694682375e-06, 6.564552307128906, 7.2719316482543945, 8.099482536315918, 1.6208913393711555e-06, 0.028438108041882515, 0.13635076582431793, 6.101470947265625, 11.024409294128418, 16.753074645996094, 0.0, 0.017014486715197563, 0.11441561579704285, 0.0031423200853168964, 0.01300672348588705, 0.037225473672151566, 1.9766241621255176e-06, 0.0001177872036350891, 1.54243316501379e-05, 0.004195849411189556, 0.033431410789489746, 0.09305461496114731, 1.8571016653368133e-06, 0.0001450770942028612, 4.2963158193742856e-05, 0.0004491646832320839, 0.028486551716923714, 0.08154914528131485, 1.5958559060891275e-06, 9.57737720455043e-05, 6.532515271828743e-06], "mean": [-0.0005062734126113355, 0.0009089491213671863, 0.002716030227020383, -5.043383498559706e-05, -7.841311344236601e-06, -6.392142040567705e-06, 0.0005436172359623015, 0.0019298678962513804, 0.005810444708913565, -0.00011256735160714015, 3.155479862471111e-05, -1.1169694502655148e-08, -0.0009732049657031894, 0.0026851496659219265, 0.007872789166867733, -0.0001265241444343701, 7.3584487836342305e-06, -1.781690116331447e-05, -7.87590179243125e-05, 0.0009823690634220839, 0.0028843616601079702, -5.260239413473755e-05, 4.111139332962921e-06, -2.913653588620946e-06, 0.00032653953530825675, 0.00031440440216101706, 0.0009549834067001939, -1.9583094399422407e-05, 1.3713078033106285e-06, 5.935800800216384e-06, 1.6730194091796875, 2.212597370147705, 2.7241477966308594, -0.05972137674689293, 0.006978691555559635, 0.03300798684358597, -0.29218369722366333, 3.8381853103637695, 6.075743198394775, -0.12469376623630524, -0.0037474569398909807, -0.0038815182633697987, 0.00014455526252277195, 0.0010046730749309063, 0.002959739649668336, -6.136990123195574e-05, 4.71015755465487e-06, 8.845399293022638e-07, -0.0009022331214509904, 0.0044383881613612175, 0.012737556360661983, -0.00019922333012800664, 1.8529894987295847e-06, -1.47919681694475e-05, -0.0022270928602665663, 0.007509022951126099, 0.021713031455874443, -0.00047329216613434255, 7.919081781437853e-07, -4.789508966496214e-05], "std": [0.0023324356880038977, 0.0025580450892448425, 0.007601920049637556, 0.00014216807903721929, 3.209660280845128e-05, 3.420557186473161e-05, 0.001985571114346385, 0.0036879584658890963, 0.011238204315304756, 0.00021758761431556195, 6.697973003610969e-05, 2.5360146537423134e-05, 0.0017629546346142888, 0.0033864714205265045, 0.00990240927785635, 0.00018172748968936503, 1.567340768815484e-05, 3.677771383081563e-05, 0.001019848044961691, 0.0019502268405631185, 0.005701610818505287, 0.00010998464131262153, 2.0901761672575958e-05, 1.6320880604325794e-05, 0.00012893052189610898, 0.000804058916401118, 0.0023350671399384737, 4.778724905918352e-05, 7.359805749729276e-06, 4.627602265827591e-06, 2.269605875015259, 2.4226760864257812, 2.8787460327148438, 0.06268094480037689, 0.008947058580815792, 0.04645983874797821, 2.2955853939056396, 3.9573607444763184, 6.3914408683776855, 0.1281358301639557, 0.006434153765439987, 0.043310582637786865, 0.00043494635610841215, 0.0018577977316454053, 0.005377530585974455, 0.00011417692439863458, 1.3951402252132539e-05, 1.0337381354474928e-05, 0.0014136324170976877, 0.004582940135151148, 0.013028155080974102, 0.00021713375463150442, 1.671277823334094e-05, 2.4983339244499803e-05, 0.0018942829919978976, 0.0054695033468306065, 0.01577984355390072, 0.00035131059121340513, 2.12651339097647e-05, 3.943932824768126e-05], "count": [1198]}, "timestamp": {"min": [0.0], "max": [39.9], "mean": [19.950000000000003], "std": [11.527756358748508], "count": [1198]}, "frame_index": {"min": [0], "max": [1197], "mean": [598.5], "std": [345.83269076245523], "count": [1198]}, "episode_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [1198]}, "index": {"min": [61588], "max": [62785], "mean": [62186.5], "std": [345.83269076245523], "count": [1198]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1198]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5415396690368652]], [[0.5412968397140503]], [[0.5431991815567017]]], "std": [[[0.2990112602710724]], [[0.2992188334465027]], [[0.30038872361183167]]], "count": [1198]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2487950176000595]], [[0.2495977282524109]], [[0.2502630054950714]]], "std": [[[0.15584775805473328]], [[0.1577886939048767]], [[0.15747883915901184]]], "count": [1198]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.18692629039287567]], [[0.18741987645626068]], [[0.18669024109840393]]], "std": [[[0.12326053529977798]], [[0.12325512617826462]], [[0.1259205937385559]]], "count": [1198]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5446845889091492]], [[0.5446091890335083]], [[0.5469139218330383]]], "std": [[[0.2995156943798065]], [[0.2998061776161194]], [[0.301567018032074]]], "count": [1198]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5960784554481506]], [[0.5960784554481506]], [[0.5960784554481506]]], "mean": [[[0.002472791587933898]], [[0.002472791587933898]], [[0.002472791587933898]]], "std": [[[0.030466517433524132]], [[0.030466517433524132]], [[0.030466517433524132]]], "count": [1198]}, "observation.images.tactile_raw": {"min": [[[0.01568627543747425]], [[0.01568627543747425]], [[0.01568627543747425]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46731775999069214]], [[0.46731775999069214]], [[0.46731775999069214]]], "std": [[[0.23483169078826904]], [[0.23483169078826904]], [[0.23483169078826904]]], "count": [1198]}}}
+{"episode_index": 37, "stats": {"observation.state": {"min": [1.0499881505966187, -0.7800198197364807, -0.15189848840236664, 0.9413236975669861, -0.06538388878107071, -0.7700387239456177, 0.4312957227230072, 0.006243474781513214, -0.2488478720188141, 0.0016542532248422503, 0.002638016827404499, 0.003071223385632038, 0.003578152973204851, -0.023254068568348885, 0.0034208225551992655, 0.0008495982619933784, -0.12371611595153809, -0.0004584976122714579, 0.0034389053471386433, 0.0008522588177584112, -0.12175532430410385, -0.03747051581740379, 0.0031226351857185364, 0.0008101336425170302, 0.01321987435221672, -0.13979744911193848, -0.038493722677230835, 0.003504853928461671, 0.0008531456696800888, 0.9984841346740723, -0.8723430633544922, -0.23245441913604736, 0.9700411558151245, -1.495988130569458, -0.9381743669509888, -0.2831837832927704, 0.007254904601722956, -0.2867136001586914, 0.0032607768662273884, -0.22913871705532074, 0.0034732979256659746, 0.005069662816822529, -0.04472910985350609, 0.003116607666015625, 0.000768895260989666, 0.0037020365707576275, -0.00041802547639235854, 0.0026918412186205387, 0.0008513719658367336, -0.002398682525381446, -0.029275797307491302, 0.0034559243358671665, 0.0008221060270443559, 0.005403118673712015, -0.05541279539465904, -0.0374126210808754, 0.0034598244819790125, 0.000859353574924171, 0.5603823661804199, -1.107150673866272, 0.5443714261054993, -0.01907888613641262, -0.05848301574587822, 0.0, -0.8729309439659119], "max": [1.2150588035583496, -0.5796549320220947, 5.512743882718496e-06, 1.5700054168701172, 3.451457087066956e-05, 0.04029383882880211, 0.6981791257858276, 1.2145687341690063, -4.751796222990379e-05, 0.2984493374824524, 0.3147121071815491, 0.47962111234664917, 0.6719788908958435, 0.06289708614349365, 0.11183764040470123, 0.290540874004364, 0.4027710556983948, 0.07461992651224136, 0.04596304893493652, 0.0017315663862973452, 0.14682644605636597, 0.09442363679409027, 0.18148833513259888, 0.32754454016685486, 0.013641590252518654, 0.040936317294836044, -0.002339070662856102, 0.08016631007194519, 0.06849464774131775, 1.332966923713684, -0.36600741744041443, -0.001590666244737804, 1.6777286529541016, 0.22059746086597443, 0.07458190619945526, 0.5185818672180176, 1.5307286977767944, 0.0004753614484798163, 0.8386544585227966, 0.31547996401786804, 0.47447532415390015, 1.106830358505249, 0.23572857677936554, 0.5186201930046082, 0.8372675180435181, 1.470550537109375, 0.23728016018867493, 1.6556702852249146, 1.308285117149353, 1.469586730003357, 0.1912383735179901, 1.654853105545044, 1.3081790208816528, 0.061282798647880554, 1.4687306880950928, 0.2946352958679199, 1.6553062200546265, 1.3081879615783691, 0.5627791881561279, -1.106191873550415, 0.7023714780807495, 0.00028762139845639467, -9.58738019107841e-05, 0.22722090780735016, -0.5998823642730713], "mean": [1.151848554611206, -0.644537091255188, -0.14076411724090576, 0.9955243468284607, -0.06317433714866638, -0.15358586609363556, 0.5178331136703491, 1.1563907861709595, -0.20398154854774475, 0.21148517727851868, 0.28975120186805725, 0.46396979689598083, 0.4384181797504425, 0.031758587807416916, 0.06412158906459808, 0.27849093079566956, 0.23016415536403656, 0.05279724672436714, 0.005833810195326805, 0.0015313457697629929, 0.028278212994337082, 0.030826885253190994, 0.0973106101155281, 0.30530011653900146, 0.013423326425254345, -0.02458845265209675, -0.028163466602563858, 0.024226093664765358, 0.020597072318196297, 1.1106483936309814, -0.6238649487495422, -0.21612754464149475, 1.347867727279663, -1.2285019159317017, -0.391154408454895, 0.14149732887744904, 1.3043755292892456, -0.20025615394115448, 0.6209744215011597, -0.04218670725822449, 0.11367183923721313, 0.9065107703208923, 0.15673568844795227, 0.06530683487653732, 0.46525534987449646, 1.3674988746643066, 0.14501889050006866, 1.513358473777771, 1.162800908088684, 1.3507721424102783, 0.1128746047616005, 1.5194368362426758, 1.192888855934143, 0.05610688775777817, 1.3461968898773193, 0.21573953330516815, 1.5422378778457642, 1.218462347984314, 0.5606173872947693, -1.1069434881210327, 0.6723589301109314, -0.013067053630948067, -0.022181447595357895, 0.18752950429916382, -0.8609544038772583], "std": [0.02412143535912037, 0.02376207709312439, 0.022719237953424454, 0.09084196388721466, 0.009883342310786247, 0.13538958132266998, 0.06793228536844254, 0.18918432295322418, 0.039924975484609604, 0.07551980018615723, 0.04984636604785919, 0.07929279655218124, 0.1794736236333847, 0.022582516074180603, 0.043989550322294235, 0.04811780899763107, 0.11531511694192886, 0.015465066768229008, 0.004470780957490206, 0.0002071813796646893, 0.06146164610981941, 0.032901156693696976, 0.07321280986070633, 0.0535980649292469, 7.564669795101508e-05, 0.04778576269745827, 0.010245810262858868, 0.02275417372584343, 0.02059023641049862, 0.07180362939834595, 0.11078447103500366, 0.03230787441134453, 0.1767961084842682, 0.3364538848400116, 0.24117566645145416, 0.2105540782213211, 0.2168484777212143, 0.054189689457416534, 0.19261111319065094, 0.09947186708450317, 0.13011400401592255, 0.22898608446121216, 0.06568668782711029, 0.06827905029058456, 0.2513461112976074, 0.33918601274490356, 0.0423785075545311, 0.44663751125335693, 0.3490142226219177, 0.37371960282325745, 0.040452346205711365, 0.4438565671443939, 0.3493044674396515, 0.014939598739147186, 0.40045201778411865, 0.07088250666856766, 0.39457789063453674, 0.31117838621139526, 0.0002934929507318884, 8.151045039994642e-05, 0.02754359506070614, 0.00539487786591053, 0.008200803771615028, 0.04177706688642502, 0.04789255931973457], "count": [1411]}, "observation.state.joint_torque": {"min": [-46.73249816894531, -5.604000091552734, -18.31800079345703, -5.715000152587891, -0.36719998717308044, -0.5432000160217285, 0.3264000117778778, -0.6393108367919922, -0.7997753024101257, -0.47719281911849976, -0.3740495443344116, -0.11123716086149216, -0.39913713932037354, -0.22643354535102844, -0.09131408482789993, -0.03567514568567276, -0.29743391275405884, -0.25233909487724304, -0.06308973580598831, -0.032821137458086014, -0.4020155072212219, -0.46246176958084106, -0.1776474118232727, -0.04709119349718094, -0.0013194032944738865, -0.3597990572452545, -0.5967867374420166, -0.06308973580598831, -0.03710215538740158, -1.0470000505447388, -21.694499969482422, -9.34000015258789, -13.585000038146973, -2.74399995803833, -7.287199974060059, -4.271999835968018, -1.9777880907058716, -0.7857665419578552, -0.5306284427642822, -1.4017539024353027, -0.17266662418842316, -0.6677870750427246, -0.8145851492881775, -0.24903841316699982, -0.1655326783657074, -0.8990179896354675, -0.6063814163208008, -0.718890905380249, -0.16053816676139832, -0.993045449256897, -0.27824461460113525, -0.3918204605579376, -0.1412736028432846, -0.14953236281871796, -1.5552915334701538, -0.6130976676940918, -0.5096986293792725, -0.09489589184522629, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-16.786500930786133, 14.156999588012695, -5.2230000495910645, 4.715000152587891, 1.8079999685287476, 1.3672000169754028, 3.5648000240325928, 0.560352087020874, 0.45337578654289246, 0.5306284427642822, 0.6834792494773865, 0.13946151733398438, 0.4432724714279175, 0.2465822994709015, 0.10957689583301544, 0.021405089646577835, 0.3713126480579376, 0.17174409329891205, 0.07637178897857666, -0.0, 0.3521233797073364, 0.45766445994377136, 0.11289741843938828, 0.019978083670139313, 0.001759204315021634, 0.29455551505088806, 0.30702856183052063, 0.08965382725000381, 0.02425910159945488, 60.6150016784668, 18.56100082397461, 23.915000915527344, 8.067999839782715, 0.9624000191688538, 2.680799961090088, 5.148799896240234, 2.6807754039764404, 4.557954788208008, 2.4307007789611816, 1.7161543369293213, 0.7670382857322693, 2.1463215351104736, 2.138645887374878, 1.0592433214187622, 0.21405088901519775, 1.2895199060440063, 0.20916320383548737, 0.4150640070438385, 0.1398465931415558, 1.529386043548584, 0.19477124512195587, 0.6724037528038025, 0.15625715255737305, 0.12490351498126984, 1.593670129776001, 0.39625874161720276, 0.6508203744888306, 0.1591111570596695, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.00360107421875, 4.40540885925293, -11.198371887207031, -1.6843981742858887, 0.2400633543729782, 0.11952557414770126, 2.044184684753418, 0.042849503457546234, -0.02660689502954483, 0.07633700966835022, 0.0029785807710140944, -0.0002976939722429961, 0.055527955293655396, 0.001559894415549934, 0.004837221000343561, 0.00336372759193182, 0.06345662474632263, -0.04008941724896431, -0.0006318615633063018, -0.0020879199728369713, 0.06544144451618195, 0.06003965809941292, 0.005347888916730881, 0.00226793996989727, -4.363719199318439e-05, 0.041468437761068344, 0.010184870101511478, 0.002240349305793643, -0.0033915347885340452, 22.467329025268555, 2.356645107269287, 10.080521583557129, -4.700772285461426, -0.45991235971450806, 0.9467389583587646, -0.8932988047599792, 0.058324214071035385, 0.8947442173957825, 0.444707989692688, 0.300212025642395, 0.05068313330411911, 0.9136112332344055, 0.018721457570791245, 0.4110521078109741, 0.08105834573507309, -0.008654911071062088, -0.03470119833946228, -0.0006577501189894974, 0.0009567323722876608, 0.007803567685186863, -0.017734047025442123, -9.766178845893592e-05, 0.0008085702429525554, -1.3089287676848471e-05, 0.02289721369743347, -0.018460972234606743, -0.000665984523948282, 0.0009425730095244944, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.2059108018875122, 1.004295825958252, 0.7580996155738831, 0.7276816368103027, 0.2536039650440216, 0.3006751239299774, 0.2627016305923462, 0.11189745366573334, 0.10837020725011826, 0.1035451591014862, 0.09145435690879822, 0.011230877600610256, 0.06615626066923141, 0.04546600580215454, 0.016743794083595276, 0.006527372635900974, 0.07251748442649841, 0.05219448730349541, 0.010057317093014717, 0.005244224797934294, 0.0882653221487999, 0.09974544495344162, 0.024027148261666298, 0.007268922869116068, 0.00030081611475907266, 0.07540532201528549, 0.07068099826574326, 0.014134448952972889, 0.011131050065159798, 4.5400519371032715, 2.1965854167938232, 2.941424608230591, 1.7700684070587158, 0.4560527205467224, 1.1388130187988281, 0.9158504605293274, 0.7931997179985046, 1.2645317316055298, 0.6360522508621216, 0.5650942325592041, 0.13228987157344818, 1.0228257179260254, 0.24167829751968384, 0.4852113425731659, 0.11280595511198044, 0.09535481035709381, 0.07946068793535233, 0.026933152228593826, 0.010736054740846157, 0.08024847507476807, 0.05865837633609772, 0.02736937813460827, 0.012179211713373661, 0.017424343153834343, 0.10452767461538315, 0.1065082997083664, 0.03409693017601967, 0.00863818172365427, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1411]}, "observation.state.tcp": {"min": [0.36176711320877075, 0.1889200657606125, 0.9280730485916138, -1.2090635299682617, 1.2084463834762573, -1.4326443672180176, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.304312527179718, -0.25496581196784973, 0.8954723477363586, -0.6547775864601135, 1.220018744468689, 0.6402015089988708, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.48269498348236084, 0.26653844118118286, 1.0517500638961792, -0.8860111236572266, 1.6551274061203003, -1.2287704944610596, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49439623951911926, -0.03998492285609245, 1.0513088703155518, 1.392793893814087, 2.234973192214966, 1.3529757261276245, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.47079646587371826, 0.2551872134208679, 0.9488153457641602, -1.1194485425949097, 1.5060597658157349, -1.338589072227478, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.36728331446647644, -0.14528825879096985, 0.9358640313148499, -0.0684669017791748, 1.893436312675476, 0.9451285600662231, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.017622798681259155, 0.013105872087180614, 0.022414639592170715, 0.0592755489051342, 0.10605551302433014, 0.04792396351695061, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0414472334086895, 0.0369996652007103, 0.030382558703422546, 0.40980106592178345, 0.19626641273498535, 0.17332075536251068, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1411]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.15192873775959015, 0.9401336908340454, -0.06529105454683304, -0.7699999809265137, 0.4312315881252289, 0.0, -0.25300031900405884, 0.0, 0.0, 0.0, 0.0, -0.02405364066362381, 0.0, 0.0, -0.1553032547235489, 0.0, 0.0, 0.0, -0.1506987363100052, -0.051281996071338654, 0.0, 0.0, 0.0, -0.1506999284029007, -0.1733291745185852, 0.0, 0.0, 0.9984641671180725, -0.872393012046814, -0.23249751329421997, 0.9681867957115173, -1.4959417581558228, -0.9387300610542297, -0.28399595618247986, 0.0, -0.28376707434654236, 0.0, -0.23382526636123657, -0.17261508107185364, 0.0, -0.04562527686357498, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.03613383322954178, 0.0, 0.0, 0.0, -0.053670141845941544, -0.053391046822071075, 0.0, 0.0, 0.5604822635650635, -1.1070547103881836, 0.5442397594451904, -0.0194451492279768, -0.06669200211763382, 0.0, -0.8726646304130554], "max": [1.2151039838790894, -0.5761911869049072, 0.0, 1.5700000524520874, 0.0, 0.041245538741350174, 0.7100445628166199, 1.2184600830078125, 0.0, 0.30560681223869324, 0.3237764239311218, 0.4822549521923065, 0.6793189644813538, 0.0629996582865715, 0.11981728672981262, 0.29301902651786804, 0.4095797538757324, 0.0751756951212883, 0.051699113100767136, 0.0, 0.15048736333847046, 0.0937752053141594, 0.18692001700401306, 0.3319918215274811, 0.012511515989899635, 0.04804639518260956, 0.0, 0.08509757369756699, 0.07282569259405136, 1.3333561420440674, -0.36597028374671936, -0.0010689442278817296, 1.6778075695037842, 0.2207045704126358, 0.0748632401227951, 0.5194465517997742, 1.5372544527053833, 0.0, 0.8377900123596191, 0.3490658402442932, 0.47808024287223816, 1.1933411359786987, 0.21323400735855103, 0.5242770314216614, 0.8899004459381104, 1.5707963705062866, 0.2406538724899292, 1.7453292608261108, 1.3833149671554565, 1.5707963705062866, 0.19348400831222534, 1.7453292608261108, 1.3962633609771729, 0.07777281850576401, 1.5707963705062866, 0.2952060103416443, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.1068830490112305, 0.7031609416007996, 0.0018620609771460295, 0.0, 0.22757624089717865, -0.6000000238418579], "mean": [1.1518679857254028, -0.6444665193557739, -0.14077389240264893, 0.9954788088798523, -0.06317553669214249, -0.1538570672273636, 0.5178980231285095, 1.1606414318084717, -0.2039669007062912, 0.2151896357536316, 0.29113876819610596, 0.4658510386943817, 0.4434969425201416, 0.03176027163863182, 0.06700778007507324, 0.2801356315612793, 0.23622335493564606, 0.05328971520066261, 0.0026067853905260563, 0.0, 0.032528068870306015, 0.03348986431956291, 0.09759363532066345, 0.3081238567829132, 0.0034706536680459976, -0.021104898303747177, -0.07896611094474792, 0.02643435075879097, 0.021792994812130928, 1.1106934547424316, -0.6240350008010864, -0.2161594033241272, 1.3478450775146484, -1.2293989658355713, -0.3915163576602936, 0.14165793359279633, 1.303567886352539, -0.19745631515979767, 0.6272228956222534, -0.03382754325866699, 0.0792682096362114, 0.9432700872421265, 0.14469903707504272, 0.07002253830432892, 0.5337482690811157, 1.460495948791504, 0.14451658725738525, 1.5812397003173828, 1.1868102550506592, 1.409077763557434, 0.11079190671443939, 1.605668306350708, 1.2268397808074951, 0.06548526883125305, 1.4420921802520752, 0.21454653143882751, 1.6234683990478516, 1.2987546920776367, 0.5607191324234009, -1.107052206993103, 0.6723935008049011, -0.013110312633216381, -0.022224310785531998, 0.18754734098911285, -0.8607620000839233], "std": [0.024111228063702583, 0.023738441988825798, 0.022705890238285065, 0.09095824509859085, 0.009885880164802074, 0.13583160936832428, 0.06805738806724548, 0.20794595777988434, 0.04157685860991478, 0.0775332823395729, 0.05532737076282501, 0.0874214768409729, 0.18454121053218842, 0.022438859567046165, 0.045258428901433945, 0.052707090973854065, 0.1195673942565918, 0.015954170376062393, 0.006623453926295042, 0.0, 0.06541844457387924, 0.032109107822179794, 0.07542094588279724, 0.05858241394162178, 0.005350170657038689, 0.050130803138017654, 0.046434301882982254, 0.02507951855659485, 0.022200260311365128, 0.07186424732208252, 0.11096654087305069, 0.0322512686252594, 0.17702291905879974, 0.3342823386192322, 0.24151642620563507, 0.21070386469364166, 0.23591695725917816, 0.05753427743911743, 0.20220616459846497, 0.10537389665842056, 0.16665104031562805, 0.26046988368034363, 0.05856124311685562, 0.06898389011621475, 0.3011874258518219, 0.37269115447998047, 0.04231393337249756, 0.467744916677475, 0.3589841425418854, 0.3988848030567169, 0.04099169000983238, 0.4701841473579407, 0.3630025386810303, 0.019526688382029533, 0.4296688735485077, 0.0708983838558197, 0.4238090515136719, 0.33904364705085754, 0.0002941870188806206, 2.0248317014193162e-05, 0.027784308418631554, 0.005433970130980015, 0.008451133966445923, 0.041967395693063736, 0.04834796488285065], "count": [1411]}, "observation.state.tcp_pose": {"min": [0.36176711320877075, 0.1889200657606125, 0.9280730485916138, -1.2090635299682617, 1.2084463834762573, -1.4326443672180176, 0.304312527179718, -0.25496581196784973, 0.8954723477363586, -0.6547775864601135, 1.220018744468689, 0.6402015089988708], "max": [0.48269498348236084, 0.26653844118118286, 1.0517500638961792, -0.8860111236572266, 1.6551274061203003, -1.2287704944610596, 0.49439623951911926, -0.03998492285609245, 1.0513088703155518, 1.392793893814087, 2.234973192214966, 1.3529757261276245], "mean": [0.47079646587371826, 0.2551872134208679, 0.9488153457641602, -1.1194485425949097, 1.5060597658157349, -1.338589072227478, 0.36728331446647644, -0.14528825879096985, 0.9358640313148499, -0.0684669017791748, 1.893436312675476, 0.9451285600662231], "std": [0.017622798681259155, 0.013105872087180614, 0.022414639592170715, 0.0592755489051342, 0.10605551302433014, 0.04792396351695061, 0.0414472334086895, 0.0369996652007103, 0.030382558703422546, 0.40980106592178345, 0.19626641273498535, 0.17332075536251068], "count": [1411]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.1861993819475174, 0.9302967190742493, -1.208855390548706, 1.2005971670150757, -1.4369475841522217, 0.30419182777404785, -0.261069655418396, 0.8954151272773743, -0.6548686027526855, 1.2192953824996948, 0.6397203803062439], "max": [0.48263055086135864, 0.2666960060596466, 1.0518032312393188, -0.877402663230896, 1.6576972007751465, -1.2289544343948364, 0.4944636821746826, -0.040049958974123, 1.0516058206558228, 1.393208384513855, 2.2351109981536865, 1.3539578914642334], "mean": [0.4708656370639801, 0.25515660643577576, 0.9487742185592651, -1.1194038391113281, 1.505952000617981, -1.3384253978729248, 0.36731600761413574, -0.14537349343299866, 0.9358797073364258, -0.06938095390796661, 1.8930985927581787, 0.9448416233062744], "std": [0.017694761976599693, 0.013050761073827744, 0.02210993878543377, 0.058958444744348526, 0.10587671399116516, 0.04830305278301239, 0.041525036096572876, 0.03703877329826355, 0.03044028952717781, 0.40812069177627563, 0.19634459912776947, 0.1730615347623825], "count": [1411]}, "subtask_index": {"min": [498], "max": [1148], "mean": [1107.2856130403968], "std": [129.73535155972914], "count": [1411]}, "observation.tactile": {"min": [-0.03755377605557442, -3.730484240804799e-05, -8.577125117881224e-05, -0.0017045066924765706, -0.0002997372066602111, -0.0005731240380555391, -0.011492859572172165, -2.157607741537504e-05, -4.3922300392296165e-05, -0.0015181659255176783, -4.1952484025387093e-05, -0.00024456309620290995, -0.0106907207518816, -3.6235400330042467e-05, -8.219521259889007e-05, -0.0008378307684324682, -6.91982641001232e-05, -0.00020557965035550296, -0.005566859617829323, -2.7248257538303733e-05, -5.9791178500745445e-05, -0.0008741292986087501, -2.664560634002555e-05, -0.0001005429367069155, -0.0020693112164735794, -5.306927050696686e-05, -0.00012026071635773405, -0.000685462960973382, -1.936102671606932e-05, -3.9487193134846166e-05, -2.043212890625, -3.6018009268445894e-05, -0.09847062081098557, -0.21867485344409943, -0.006278401706367731, -0.049309249967336655, -7.269412994384766, 0.0, 0.0, -0.4512298107147217, -0.029790004715323448, -0.13982340693473816, -0.007408738136291504, -4.866008021053858e-05, -0.00010785784979816526, -0.0017821922665461898, -2.424751983198803e-05, -0.0001650180056458339, -0.009404556825757027, -4.327962960815057e-05, -9.517220314592123e-05, -0.0014618360437452793, -0.00011589838686631992, -0.0002070216869469732, -0.007129212375730276, -3.776789890252985e-05, -8.180029544746503e-05, -0.001007357146590948, -6.459470023401082e-05, -0.00015506631461903453], "max": [0.005250359885394573, 0.030560405924916267, 0.09436407685279846, 1.6491944734298158e-06, 0.00020176808175165206, 8.102903666440398e-05, 0.026785463094711304, 0.024917982518672943, 0.07400019466876984, 7.94650588886725e-07, 0.0003642214578576386, 0.00041870755376294255, 0.006157844327390194, 0.015657372772693634, 0.04554383084177971, 1.542870677440078e-06, 0.00011997296678600833, 5.253230483504012e-05, 0.012162436731159687, 0.015961216762661934, 0.04740113019943237, 1.0820471061379067e-06, 0.0002796281478367746, 0.0001372094702674076, 0.0027925739996135235, 0.011222674511373043, 0.03225325420498848, 2.2951185201236513e-06, 8.983681618701667e-05, 4.2127096094191074e-05, 6.917166709899902, 9.469430923461914, 10.565559387207031, 1.4782264088353259e-06, 0.036026183515787125, 0.1400216668844223, 5.419126510620117, 19.653860092163086, 31.054466247558594, 0.0, 0.014703720808029175, 0.1023535206913948, 0.02741200476884842, 0.030486322939395905, 0.09611924737691879, 1.972550762729952e-06, 0.0005840681260451674, 0.00032723433105275035, 0.03286188095808029, 0.02684682421386242, 0.08112038671970367, 1.7734334960550768e-06, 0.00040940125472843647, 0.0004641671839635819, 0.0015176002634689212, 0.015486655756831169, 0.04511761665344238, 1.5201151200017193e-06, 9.966076322598383e-05, 6.612291144847404e-06], "mean": [-0.00037681820685975254, 0.001147798728197813, 0.0034054506104439497, -5.8131659898208454e-05, -1.407921445206739e-06, -4.891695880360203e-06, -0.0006260265945456922, 0.0030398403760045767, 0.009004179388284683, -0.00018000976706389338, 2.3968126697582193e-05, -2.1226969693088904e-05, -8.396975317737088e-05, 0.0005231177783571184, 0.0015216546598821878, -2.4400183974648826e-05, 6.382249466696521e-07, -1.196925040858332e-06, -0.0007192613556981087, 0.001882081152871251, 0.00552408630028367, -0.00010234679211862385, 3.2538694085815223e-06, -1.4185730833560228e-05, 0.0002618566795717925, 0.0006113584386184812, 0.0018131339456886053, -3.775377990677953e-05, 3.846213985525537e-06, 3.83953101845691e-06, 1.5755581855773926, 2.124307632446289, 2.825533390045166, -0.057684142142534256, 0.006962984800338745, 0.030864225700497627, -0.31082096695899963, 3.5819029808044434, 7.062648773193359, -0.1332666128873825, -0.0046196598559618, -0.0050733513198792934, 0.0004088045097887516, 0.0026630687061697245, 0.007929829880595207, -0.0001545649574836716, 2.5426410502404906e-05, -1.0489491160114994e-06, 0.00034610493457876146, 0.004140005446970463, 0.012129138223826885, -0.00018571042164694518, 1.0753926289908122e-05, 4.950178663420957e-06, -0.0020101801492273808, 0.004827925004065037, 0.013774150982499123, -0.0003102497721556574, -1.6129381037899293e-05, -4.0222537791123614e-05], "std": [0.0023949183523654938, 0.0027671384159475565, 0.00826172810047865, 0.00014214092516340315, 2.906919689849019e-05, 3.445991751505062e-05, 0.002487156307324767, 0.004618538077920675, 0.013629281893372536, 0.00028139702044427395, 4.541567250271328e-05, 4.742675446323119e-05, 0.001023666700348258, 0.0016262270510196686, 0.00471534626558423, 8.044354763114825e-05, 1.0339716936869081e-05, 1.9168257495039143e-05, 0.0013356116833165288, 0.003005048492923379, 0.008785109966993332, 0.00016453258285764605, 1.2710357623291202e-05, 2.487956953700632e-05, 0.00028652293258346617, 0.0015646740794181824, 0.004517578054219484, 9.318449883721769e-05, 1.3155497072148137e-05, 7.970766091602854e-06, 2.465296983718872, 2.54689359664917, 3.3509557247161865, 0.06833524256944656, 0.009904956445097923, 0.04919486492872238, 2.4122538566589355, 3.9587886333465576, 7.992616176605225, 0.14242498576641083, 0.007153328973799944, 0.045672692358493805, 0.00211348501034081, 0.003661012975499034, 0.011042128317058086, 0.00021760529489256442, 5.332062210072763e-05, 2.777309600787703e-05, 0.0025455730501562357, 0.004811423365026712, 0.014176744036376476, 0.0002443366392981261, 6.043783650966361e-05, 3.5114746424369514e-05, 0.001480324543081224, 0.0035187085159122944, 0.010066390037536621, 0.0002313139702891931, 1.820667603169568e-05, 2.9481767342076637e-05], "count": [1411]}, "timestamp": {"min": [0.0], "max": [47.0], "mean": [23.5], "std": [13.577350420624947], "count": [1411]}, "frame_index": {"min": [0], "max": [1410], "mean": [705.0], "std": [407.3205126187484], "count": [1411]}, "episode_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1411]}, "index": {"min": [62786], "max": [64196], "mean": [63491.0], "std": [407.3205126187484], "count": [1411]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1411]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5402950048446655]], [[0.5401312708854675]], [[0.5417905449867249]]], "std": [[[0.2984013855457306]], [[0.29862555861473083]], [[0.2995779514312744]]], "count": [1411]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2449938803911209]], [[0.2458232194185257]], [[0.2464664876461029]]], "std": [[[0.1541980504989624]], [[0.1561422199010849]], [[0.1558709293603897]]], "count": [1411]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.1888599842786789]], [[0.18823523819446564]], [[0.18742337822914124]]], "std": [[[0.12569250166416168]], [[0.12445619702339172]], [[0.1278127282857895]]], "count": [1411]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5438967347145081]], [[0.5438209176063538]], [[0.5450185537338257]]], "std": [[[0.29953640699386597]], [[0.299726277589798]], [[0.30118831992149353]]], "count": [1411]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6392157077789307]], [[0.6392157077789307]], [[0.6392157077789307]]], "mean": [[[0.002823434304445982]], [[0.002823434304445982]], [[0.002823434304445982]]], "std": [[[0.03291858360171318]], [[0.03291858360171318]], [[0.03291858360171318]]], "count": [1411]}, "observation.images.tactile_raw": {"min": [[[0.027450980618596077]], [[0.027450980618596077]], [[0.027450980618596077]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4674694836139679]], [[0.4674694836139679]], [[0.4674694836139679]]], "std": [[[0.2348453402519226]], [[0.2348453402519226]], [[0.2348453402519226]]], "count": [1411]}}}
+{"episode_index": 38, "stats": {"observation.state": {"min": [1.049981951713562, -0.7800298929214478, -0.1343015730381012, 0.9461973905563354, -0.11329454928636551, -0.7700367569923401, 0.5135736465454102, 0.006207158789038658, -0.22202840447425842, 0.004226925782859325, 8.276951120933518e-05, 0.0030768965370953083, -0.1572876125574112, -0.0002622402098495513, 0.003426850074902177, 0.0008531456696800888, -0.1721065491437912, -0.00041212773066945374, 0.003430041251704097, 0.0008070296607911587, -0.1571897268295288, -0.033803313970565796, 0.0031127072870731354, 0.000823879730887711, 0.013074305839836597, -0.14350585639476776, -0.04003649950027466, 0.0035378283355385065, 0.0008509285398758948, 1.0409533977508545, -0.8881908655166626, -0.22522324323654175, 0.9721008539199829, -1.5685449838638306, -0.8240106105804443, -0.20945429801940918, 0.007504961919039488, -0.2936379313468933, 0.003189371433109045, -0.2588951885700226, 0.003219431033357978, 0.005166071467101574, -0.09144135564565659, 0.003130081109702587, 0.0007351951790042222, 0.00371184921823442, -0.021448306739330292, 0.0027389980386942625, 0.0008243231568485498, -0.0004322434833738953, -0.03365612402558327, 0.0034573425073176622, 0.0008540325216017663, 0.005627891980111599, -0.056684255599975586, -0.037602249532938004, 0.0034984718076884747, 0.0008797510527074337, 0.5601906180381775, -1.107150673866272, 0.5441796779632568, -0.017257284373044968, -0.050333745777606964, -0.0001917476038215682, -0.8729309439659119], "max": [1.2331883907318115, -0.5487504005432129, 8.149272616719827e-06, 1.5700123310089111, 4.350273957243189e-05, -0.09945133328437805, 0.6981633305549622, 1.215837836265564, -7.046584414638346e-06, 0.4804973006248474, 0.313401997089386, 0.4796108305454254, 0.7434033155441284, 0.0823691263794899, 0.16286171972751617, 0.29971086978912354, 0.5020259618759155, 0.13256460428237915, 0.14130394160747528, 0.008523031137883663, 0.17752748727798462, 0.09874975681304932, 0.11542262881994247, 0.327522337436676, 0.013530273921787739, 0.245172381401062, 0.025457480922341347, 0.3259950280189514, 0.28116291761398315, 1.361070990562439, -0.4192253649234772, -0.00015435680688824505, 1.6752369403839111, 0.22836671769618988, -0.04644102603197098, 0.5264468789100647, 1.5333374738693237, 0.00043308301246725023, 0.8056294918060303, 0.31508010625839233, 0.4947952926158905, 1.10090172290802, 0.21491925418376923, 0.8600085377693176, 0.8582684993743896, 1.4688007831573486, 0.22047412395477295, 1.6556835174560547, 1.3082921504974365, 1.468700647354126, 0.1733056604862213, 1.6548587083816528, 1.3082318305969238, 0.06166919320821762, 1.468522071838379, 0.2925094664096832, 1.6548055410385132, 1.3081533908843994, 0.5627791881561279, -1.1060960292816162, 0.6950850486755371, 0.0015339808305725455, 0.0, 0.19050124287605286, -0.5998823642730713], "mean": [1.1825823783874512, -0.6572498083114624, -0.12804919481277466, 0.993602454662323, -0.06650881469249725, -0.2510927617549896, 0.602218747138977, 1.168074607849121, -0.1974944919347763, 0.3372257947921753, 0.28292885422706604, 0.4639070928096771, 0.4706759452819824, 0.05846193805336952, 0.12921865284442902, 0.28497055172920227, 0.3094289302825928, 0.08917923271656036, 0.06822077184915543, 0.0028827928472310305, 0.11490219086408615, 0.04843560606241226, 0.0489632673561573, 0.3093220591545105, 0.013327240943908691, 0.09211130440235138, -0.02258441410958767, 0.06974319368600845, 0.059067193418741226, 1.0995675325393677, -0.7130517363548279, -0.21605552732944489, 1.4456087350845337, -1.2321844100952148, -0.4042358994483948, 0.08135997503995895, 1.2864794731140137, -0.19384615123271942, 0.5840668082237244, -0.08426573127508163, 0.16212309896945953, 0.8720630407333374, 0.14625148475170135, 0.10889626294374466, 0.4779772460460663, 1.3574358224868774, 0.14612391591072083, 1.5137416124343872, 1.171738624572754, 1.317026972770691, 0.11444034427404404, 1.5159605741500854, 1.1989974975585938, 0.05352472513914108, 1.345057725906372, 0.21742331981658936, 1.532970666885376, 1.211736798286438, 0.560432493686676, -1.106943964958191, 0.6658487319946289, -0.010852753184735775, -0.023662734776735306, 0.1559750884771347, -0.8580167889595032], "std": [0.02631242200732231, 0.02466294914484024, 0.021147308871150017, 0.09385038167238235, 0.01975368708372116, 0.11273087561130524, 0.05480453372001648, 0.1884492188692093, 0.03677738830447197, 0.11525573581457138, 0.04878871142864227, 0.07906831800937653, 0.25837939977645874, 0.016068002209067345, 0.04862947762012482, 0.04904315620660782, 0.17995774745941162, 0.027568859979510307, 0.05516846105456352, 0.0025405201595276594, 0.07658184319734573, 0.028794221580028534, 0.039084725081920624, 0.05519052594900131, 7.927307160571218e-05, 0.09761156141757965, 0.01956726424396038, 0.10816025733947754, 0.09359804540872574, 0.059961676597595215, 0.1296682506799698, 0.03110252320766449, 0.14625610411167145, 0.346657931804657, 0.16307486593723297, 0.21726417541503906, 0.2155185341835022, 0.04407167434692383, 0.1805068850517273, 0.10632802546024323, 0.15920251607894897, 0.22649095952510834, 0.06127738952636719, 0.12775927782058716, 0.250223845243454, 0.3531838357448578, 0.04515765234827995, 0.4503888487815857, 0.3547181189060211, 0.37438729405403137, 0.03814377635717392, 0.4488632380962372, 0.3534601032733917, 0.015267630107700825, 0.40125948190689087, 0.06862582266330719, 0.41914287209510803, 0.33083289861679077, 0.00031562207732349634, 8.522724237991497e-05, 0.022738363593816757, 0.0037497172597795725, 0.0070166499353945255, 0.03487473726272583, 0.055470436811447144], "count": [1361]}, "observation.state.joint_torque": {"min": [-46.83150100708008, -2.82450008392334, -18.402999877929688, -5.801000118255615, -0.3319999873638153, -0.5784000158309937, 0.909600019454956, -0.6736960411071777, -0.7042606472969055, -0.4361840486526489, -0.32061392068862915, -0.1145576685667038, -0.3214205205440521, -0.2705689072608948, -0.09961536526679993, -0.033534638583660126, -0.2724878489971161, -0.267690509557724, -0.06973075866699219, -0.039242662489414215, -0.31566372513771057, -0.3722721338272095, -0.13614100217819214, -0.045664187520742416, -0.001759204315021634, -0.35692068934440613, -0.3319746255874634, -0.07637178897857666, -0.038529157638549805, -11.056500434875488, -8.755499839782715, -17.804000854492188, -10.263999938964844, -1.7408000230789185, -9.657600402832031, -2.905600070953369, -1.849161982536316, -0.8621781468391418, -0.45358169078826904, -1.1606720685958862, -0.16436536610126495, -0.6409221291542053, -1.0582890510559082, -0.43664735555648804, -0.21405088901519775, -0.3809072971343994, -0.33485302329063416, -0.11123716086149216, -0.05708024278283119, -0.4212048053741455, -0.34444764256477356, -0.11289741843938828, -0.09204187989234924, -0.13633833825588226, -0.7992337346076965, -0.4375157058238983, -0.12617947161197662, -0.05850724130868912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-14.96399974822998, 11.923500061035156, -4.614999771118164, 2.8519999980926514, 1.7848000526428223, 1.2807999849319458, 3.6296000480651855, 1.031557321548462, 0.333664208650589, 0.52068692445755, 0.6399851441383362, 0.10791664570569992, 0.3319746255874634, 0.2580958902835846, 0.10127562284469604, 0.019264578819274902, 0.2983933687210083, 0.1938117891550064, 0.0979551151394844, 0.016410568729043007, 0.2916771173477173, 0.37323158979415894, 0.11289741843938828, 0.02925362065434456, 0.0021990055684000254, 0.5871921181678772, 0.3242989182472229, 0.18262816965579987, 0.038529157638549805, 39.403499603271484, 16.45949935913086, 18.601999282836914, 4.4029998779296875, 1.0032000541687012, 3.119999885559082, 7.0472002029418945, 2.284708261489868, 4.461166858673096, 2.146124839782715, 1.6652039289474487, 0.6724037528038025, 2.1424834728240967, 2.1396052837371826, 1.0592433214187622, 0.21476440131664276, 1.3998582363128662, 0.5401783585548401, 0.7686985731124878, 0.10987946391105652, 1.4746965169906616, 0.30127179622650146, 0.7105896472930908, 0.13271154463291168, 0.12754231691360474, 1.5725617408752441, 0.41256964206695557, 0.6441793441772461, 0.12629002332687378, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.8018856048584, 4.299429416656494, -11.440235137939453, -1.434423565864563, 0.16840697824954987, 0.22946301102638245, 2.103991746902466, -0.0060326531529426575, -0.057305045425891876, 0.12366912513971329, -0.0017521887784823775, 7.685148739255965e-05, 0.06161578744649887, 0.0038759252056479454, 0.0054699513129889965, 0.0010867709061130881, 0.049333132803440094, -0.025942161679267883, 0.005376024171710014, -0.00040472048567608, 0.038874901831150055, 0.0446978434920311, 0.0048307254910469055, 0.00254051573574543, -1.9065571905230172e-05, 0.08728944510221481, 0.015430394560098648, 0.011166769079864025, -0.003324277466163039, 21.38658905029297, 3.158903121948242, 10.363665580749512, -5.045878887176514, -0.4797009527683258, 1.0072182416915894, -0.8411195874214172, 0.03044857643544674, 0.7877452969551086, 0.4289419949054718, 0.38820916414260864, 0.04833656921982765, 0.754509687423706, 0.0396278016269207, 0.33543145656585693, 0.066170834004879, 0.007342950440943241, -0.013284449465572834, 0.001316252863034606, 0.0022228192538022995, 0.0033598889131098986, -0.013332386501133442, 0.0005745653761550784, -0.0006836209795437753, 0.0013287756592035294, 0.02073599025607109, -0.021704619750380516, 0.0013272325741127133, 0.0012498089345172048, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.2392903566360474, 1.0139216184616089, 0.7234528064727783, 0.7540096044540405, 0.2705439329147339, 0.2858092188835144, 0.21436171233654022, 0.13112519681453705, 0.10288770496845245, 0.11080781370401382, 0.0849442332983017, 0.012149004265666008, 0.06570697575807571, 0.048261042684316635, 0.015581673942506313, 0.0046857139095664024, 0.06603226065635681, 0.04646631330251694, 0.012831212021410465, 0.004445366095751524, 0.07722008973360062, 0.09296497702598572, 0.018253548070788383, 0.006900319829583168, 0.0003077575529459864, 0.10831154882907867, 0.08286871761083603, 0.026394419372081757, 0.013233765959739685, 4.706455230712891, 2.3553826808929443, 3.186046600341797, 1.6629270315170288, 0.3430555760860443, 1.253753423690796, 1.034970998764038, 0.6191932559013367, 1.3196799755096436, 0.6153459548950195, 0.594285249710083, 0.13512784242630005, 0.9588475227355957, 0.30773404240608215, 0.4623096287250519, 0.10967837274074554, 0.07371560484170914, 0.06561601161956787, 0.02585127390921116, 0.008482260629534721, 0.09879576414823532, 0.06196022033691406, 0.02215055376291275, 0.009897232986986637, 0.01656455360352993, 0.08540863543748856, 0.09365770220756531, 0.02376905083656311, 0.006329200696200132, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1361]}, "observation.state.tcp": {"min": [0.3617682158946991, 0.19144411385059357, 0.9578667879104614, -1.2097277641296387, 1.1732527017593384, -1.3478407859802246, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2969870865345001, -0.27931511402130127, 0.9035415649414062, -0.7869543433189392, 1.2180407047271729, 0.5685416460037231, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.49371039867401123, 0.28199201822280884, 1.0518131256103516, -0.8332847356796265, 1.4838919639587402, -1.2287347316741943, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5085834860801697, -0.06153012067079544, 1.0517867803573608, 1.3337010145187378, 2.1438186168670654, 1.3644834756851196, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4830315411090851, 0.26773014664649963, 0.9791483879089355, -1.0346181392669678, 1.352405309677124, -1.298187017440796, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.34885263442993164, -0.16641701757907867, 0.9402221441268921, -0.02314824052155018, 1.9107458591461182, 0.8907676339149475, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01943199150264263, 0.01705862395465374, 0.016906145960092545, 0.07159999758005142, 0.0701570138335228, 0.026625609025359154, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03620823472738266, 0.04691324383020401, 0.03173625096678734, 0.4055178463459015, 0.19823385775089264, 0.17485807836055756, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1361]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.13434042036533356, 0.9464614391326904, -0.1132286861538887, -0.7699999809265137, 0.5135846138000488, 0.0, -0.22960716485977173, 0.0, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.1745329201221466, -0.04294092208147049, 0.0, 0.0, 0.0, -0.15084369480609894, -0.1685355305671692, 0.0, 0.0, 1.0410135984420776, -0.8882459402084351, -0.22524935007095337, 0.9719811081886292, -1.5685193538665771, -0.8250488638877869, -0.20946061611175537, 0.0, -0.28817734122276306, 0.0, -0.2589440941810608, -0.17232754826545715, 0.0, -0.09231574088335037, 0.0, 0.0, 0.0, -0.02424538880586624, 0.0, 0.0, 0.0, -0.058568306267261505, 0.0, 0.0, 0.0, -0.05694909393787384, -0.09912306815385818, 0.0, 0.0, 0.5602864623069763, -1.1070547103881836, 0.5442397594451904, -0.017543140798807144, -0.05633515492081642, 0.0, -0.8728347420692444], "max": [1.2332051992416382, -0.5480996966362, 0.0, 1.5700000524520874, 0.0, -0.09987518191337585, 0.8219424486160278, 1.2176930904388428, 0.0, 0.4868082106113434, 0.33834928274154663, 0.4822549521923065, 0.7531129121780396, 0.0839962288737297, 0.16754209995269775, 0.3036130666732788, 0.5103955268859863, 0.13586372137069702, 0.15112024545669556, 0.013211368583142757, 0.18166491389274597, 0.10623877495527267, 0.11924385279417038, 0.32998815178871155, 0.026250243186950684, 0.2541273236274719, 0.022924475371837616, 0.3296523988246918, 0.28267422318458557, 1.361288070678711, -0.4192050099372864, -0.0005599615396931767, 1.6753627061843872, 0.2284700572490692, -0.04639403894543648, 0.5271260142326355, 1.5423165559768677, 0.0, 0.8040423393249512, 0.3490658402442932, 0.5005144476890564, 1.175125241279602, 0.2148638367652893, 0.8833239674568176, 0.8558170795440674, 1.5707963705062866, 0.22675228118896484, 1.7453292608261108, 1.3962633609771729, 1.5707963705062866, 0.1764184832572937, 1.7453292608261108, 1.3962633609771729, 0.0726071447134018, 1.5707963705062866, 0.29443925619125366, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106870412826538, 0.696084201335907, 0.0026027560234069824, 0.0, 0.19070063531398773, -0.6000000238418579], "mean": [1.1826307773590088, -0.65715491771698, -0.12805302441120148, 0.9936264157295227, -0.06651462614536285, -0.2513347864151001, 0.6085572838783264, 1.1683903932571411, -0.20347370207309723, 0.3418305218219757, 0.2837510108947754, 0.4659576416015625, 0.4747946858406067, 0.05844973400235176, 0.1335434466600418, 0.287756085395813, 0.3141694664955139, 0.08916929364204407, 0.07239773869514465, 0.0023550509940832853, 0.11761519312858582, 0.05119279399514198, 0.05091075226664543, 0.31085771322250366, 0.015011977404356003, 0.09682556241750717, -0.05615127459168434, 0.06785333901643753, 0.05814071744680405, 1.0997779369354248, -0.7131621837615967, -0.21607409417629242, 1.4453951120376587, -1.233359694480896, -0.40502306818962097, 0.08189789950847626, 1.2845872640609741, -0.19258879125118256, 0.5868993997573853, -0.0782599151134491, 0.14189964532852173, 0.9057887196540833, 0.13902883231639862, 0.12194259464740753, 0.5118954181671143, 1.438293695449829, 0.14622463285923004, 1.591035008430481, 1.2028595209121704, 1.352975845336914, 0.11311648786067963, 1.6027491092681885, 1.2707173824310303, 0.062062427401542664, 1.4408763647079468, 0.2145262360572815, 1.6153942346572876, 1.2922930717468262, 0.5605387091636658, -1.107052206993103, 0.6658911108970642, -0.01089444849640131, -0.02370472252368927, 0.1560186892747879, -0.8578764200210571], "std": [0.026214269921183586, 0.024750368669629097, 0.021157922223210335, 0.09427224844694138, 0.01975562795996666, 0.11321994662284851, 0.06739242374897003, 0.2052828073501587, 0.04177611321210861, 0.12015783041715622, 0.05425276607275009, 0.08714856207370758, 0.2655099928379059, 0.016815708950161934, 0.05133187025785446, 0.05395166948437691, 0.18606917560100555, 0.028489578515291214, 0.057032227516174316, 0.004883974324911833, 0.0797247588634491, 0.03097204677760601, 0.04276451840996742, 0.059449322521686554, 0.007919803261756897, 0.1012837141752243, 0.049567800015211105, 0.11097832769155502, 0.09512428939342499, 0.06033477187156677, 0.12974141538143158, 0.03105189837515354, 0.14652444422245026, 0.3445103168487549, 0.1638157218694687, 0.21791014075279236, 0.23290163278579712, 0.04883730039000511, 0.18835574388504028, 0.11303208023309708, 0.1823432296514511, 0.2568472623825073, 0.0571366623044014, 0.13374610245227814, 0.2795766294002533, 0.3845260441303253, 0.04607125371694565, 0.4747677147388458, 0.3671030104160309, 0.39491069316864014, 0.04096416383981705, 0.47458648681640625, 0.37700051069259644, 0.01864153891801834, 0.43085944652557373, 0.07432056963443756, 0.44733282923698425, 0.3578784167766571, 0.00031898284214548767, 2.051077717624139e-05, 0.023024559020996094, 0.003808780573308468, 0.007209694944322109, 0.03503009304404259, 0.05577915906906128], "count": [1361]}, "observation.state.tcp_pose": {"min": [0.3617682158946991, 0.19144411385059357, 0.9578667879104614, -1.2097277641296387, 1.1732527017593384, -1.3478407859802246, 0.2969870865345001, -0.27931511402130127, 0.9035415649414062, -0.7869543433189392, 1.2180407047271729, 0.5685416460037231], "max": [0.49371039867401123, 0.28199201822280884, 1.0518131256103516, -0.8332847356796265, 1.4838919639587402, -1.2287347316741943, 0.5085834860801697, -0.06153012067079544, 1.0517867803573608, 1.3337010145187378, 2.1438186168670654, 1.3644834756851196], "mean": [0.4830315411090851, 0.26773014664649963, 0.9791483879089355, -1.0346181392669678, 1.352405309677124, -1.298187017440796, 0.34885263442993164, -0.16641701757907867, 0.9402221441268921, -0.02314824052155018, 1.9107458591461182, 0.8907676339149475], "std": [0.01943199150264263, 0.01705862395465374, 0.016906145960092545, 0.07159999758005142, 0.0701570138335228, 0.026625609025359154, 0.03620823472738266, 0.04691324383020401, 0.03173625096678734, 0.4055178463459015, 0.19823385775089264, 0.17485807836055756], "count": [1361]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.18966399133205414, 0.9584420323371887, -1.208855390548706, 1.0846500396728516, -1.3669712543487549, 0.29715263843536377, -0.2798588275909424, 0.9034416675567627, -0.7861188054084778, 1.2185083627700806, 0.5687163472175598], "max": [0.49312788248062134, 0.2819907069206238, 1.0518032312393188, -0.7421579957008362, 1.4842194318771362, -1.227842092514038, 0.5089382529258728, -0.06153810769319534, 1.0518394708633423, 1.334153175354004, 2.1445119380950928, 1.3643454313278198], "mean": [0.482995867729187, 0.2675931453704834, 0.97954922914505, -1.0300272703170776, 1.3477343320846558, -1.3013566732406616, 0.34896087646484375, -0.16652221977710724, 0.9403223991394043, -0.024586662650108337, 1.9097191095352173, 0.890354335308075], "std": [0.019527418538928032, 0.017195094376802444, 0.017362916842103004, 0.08147704601287842, 0.07823218405246735, 0.024589903652668, 0.03634648025035858, 0.04691539704799652, 0.03187436982989311, 0.4044058322906494, 0.19886989891529083, 0.17417939007282257], "count": [1361]}, "subtask_index": {"min": [1149], "max": [1182], "mean": [1164.7288758265981], "std": [8.978010330414566], "count": [1361]}, "observation.tactile": {"min": [-0.028384577482938766, -3.3681688364595175e-05, -7.570289017166942e-05, -0.0012641584035009146, -0.0003004732134286314, -0.00047980831004679203, -0.010694551281630993, -2.2975198589847423e-05, -4.683887891587801e-05, -0.0013099974021315575, -1.604619319550693e-05, -0.00023083208361640573, -0.011301304213702679, -3.5501772799761966e-05, -7.842147897463292e-05, -0.001249458990059793, -2.6744446586235426e-05, -0.00023874244652688503, -0.8790146708488464, -3.337160887895152e-05, -7.238880061777309e-05, -0.0027256596367806196, -0.0004475558234844357, -0.01187928393483162, -0.004244356881827116, -5.684122152160853e-05, -0.00012900750152766705, -0.00047701119910925627, -5.36848274350632e-05, -6.22696170466952e-05, -0.9381904006004333, -3.787172317970544e-05, -8.449307642877102e-05, -0.21502567827701569, -0.008027843199670315, -0.027201958000659943, -5.086276054382324, 0.0, 0.0, -0.3875578045845032, -0.01897757686674595, -0.11377663165330887, -0.0028458242304623127, -5.23817325301934e-05, -0.0001161418913397938, -0.0014158713165670633, -9.96927064988995e-06, -8.428118599113077e-05, -0.015821227803826332, -4.049835479236208e-05, -8.738964970689267e-05, -0.0020938680972903967, -4.6337889216374606e-05, -0.00035491830203682184, -0.008242927491664886, -3.9059133996488526e-05, -8.858148066792637e-05, -0.0013371071545407176, -4.90456004627049e-05, -0.00017163215670734644], "max": [0.0002626757777761668, 0.023734362795948982, 0.0712987408041954, 1.4621828086092137e-06, 2.1068703063065186e-05, 5.6353769650741015e-06, 0.015232529491186142, 0.02531588450074196, 0.07399436831474304, 8.687008516972128e-07, 0.00033704584348015487, 0.00019427509687375277, 0.0009479665313847363, 0.023339800536632538, 0.06624230742454529, 1.4751587968930835e-06, 0.0001540601224405691, 5.826914730278077e-06, 0.00047311815433204174, 0.07975088804960251, 0.1965256631374359, 1.2942732610099483e-06, 0.00011593564704526216, 5.35721255801036e-06, 0.0012181519996374846, 0.008129734545946121, 0.023181132972240448, 2.4670359834999545e-06, 6.757460505468771e-05, 8.9278237282997e-06, 7.117455005645752, 8.045281410217285, 9.23922061920166, 1.541667188575957e-06, 0.030259309336543083, 0.14658883213996887, 5.143928527832031, 13.321671485900879, 21.825092315673828, 0.0, 0.013314683921635151, 0.09291163831949234, 0.014541671611368656, 0.022673966363072395, 0.0654296875, 2.1262264908727957e-06, 0.0003737603547051549, 0.00020169737399555743, 0.03561849519610405, 0.03750400245189667, 0.11438672244548798, 1.607492549737799e-06, 0.00046418505371548235, 0.0005042054690420628, 0.0011652319226413965, 0.020788367837667465, 0.059958603233098984, 1.6380399756599218e-06, 0.00010715510870795697, 6.619979103561491e-06], "mean": [-0.0014278760645538568, 0.0016827861545607448, 0.004860500805079937, -8.502656419295818e-05, -1.6653759303153493e-05, -1.926487857417669e-05, -0.0011560311540961266, 0.0038797762244939804, 0.011357991024851799, -0.00021135610586497933, 3.5940498491982e-05, -3.429382195463404e-05, -0.0015497322892770171, 0.0040039485320448875, 0.011595225892961025, -0.0002070124464808032, 2.3937322112033144e-05, -3.437487248447724e-05, -0.0037938933819532394, 0.0016274993540719151, 0.004594066180288792, -7.464041846105829e-05, -2.5204792564181844e-06, -5.1079467084491625e-05, 0.00014869941514916718, 0.0006715339841321111, 0.0019454059656709433, -3.5846409446094185e-05, -2.5507877126074163e-06, 4.540801455732435e-06, 1.8298406600952148, 1.6344674825668335, 1.8782256841659546, -0.04360441863536835, 0.006679703015834093, 0.03629469871520996, 0.45220091938972473, 3.321277141571045, 5.717047691345215, -0.11051087826490402, -0.0017148851184174418, 0.009834001772105694, 0.0001420479384250939, 0.002540679182857275, 0.007390466518700123, -0.00015059243014547974, 2.040041727013886e-05, -4.768242888530949e-06, 0.00029624527087435126, 0.007200742606073618, 0.021506790071725845, -0.0004033335135318339, 6.267999560805038e-05, -2.1013631339883432e-05, -0.0005262454506009817, 0.001744570559822023, 0.005058848299086094, -0.00010071963333757594, 5.978685067020706e-07, -1.0795516573125497e-05], "std": [0.0038574240170419216, 0.00357814971357584, 0.010274676606059074, 0.00018659148190636188, 3.894524343195371e-05, 5.970782149233855e-05, 0.002312462078407407, 0.003976786974817514, 0.011651155538856983, 0.0002203435724368319, 3.962737537221983e-05, 4.4400570914149284e-05, 0.0016918100882321596, 0.003869065549224615, 0.011194952763617039, 0.00021513583487831056, 3.0500965294777416e-05, 3.9240931073436514e-05, 0.040227390825748444, 0.004227370023727417, 0.010778561234474182, 0.00016565076657570899, 1.8102193280356005e-05, 0.0005342993536032736, 0.0005011509638279676, 0.001246148720383644, 0.0035605805460363626, 6.631815631408244e-05, 1.070137932401849e-05, 6.616891369048972e-06, 2.4578709602355957, 2.1861047744750977, 2.559108257293701, 0.060139842331409454, 0.009648812003433704, 0.04961908981204033, 1.5203659534454346, 3.9816019535064697, 6.971440315246582, 0.13038188219070435, 0.004069990012794733, 0.02937306836247444, 0.000970862340182066, 0.0032126547303050756, 0.009245160967111588, 0.0001933384919539094, 2.9492781322915107e-05, 1.7741371266311035e-05, 0.005695964675396681, 0.00585956871509552, 0.017740076407790184, 0.0003434674290474504, 8.022016118047759e-05, 8.993575465865433e-05, 0.001210073009133339, 0.002814366016536951, 0.00813792273402214, 0.00017852253222372383, 1.270375469175633e-05, 2.496704473742284e-05], "count": [1361]}, "timestamp": {"min": [0.0], "max": [45.333333333333336], "mean": [22.666666666666664], "std": [13.096225071031387], "count": [1361]}, "frame_index": {"min": [0], "max": [1360], "mean": [680.0], "std": [392.88675213094166], "count": [1361]}, "episode_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [1361]}, "index": {"min": [64197], "max": [65557], "mean": [64877.0], "std": [392.88675213094166], "count": [1361]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1361]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.543062150478363]], [[0.5429545044898987]], [[0.5444480776786804]]], "std": [[[0.2973765432834625]], [[0.29763129353523254]], [[0.29845163226127625]]], "count": [1361]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2481873631477356]], [[0.24926473200321198]], [[0.24936836957931519]]], "std": [[[0.1551426351070404]], [[0.1569952368736267]], [[0.15663984417915344]]], "count": [1361]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.19021335244178772]], [[0.19107180833816528]], [[0.18900224566459656]]], "std": [[[0.1239776611328125]], [[0.124388188123703]], [[0.12697994709014893]]], "count": [1361]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5457764267921448]], [[0.5457478165626526]], [[0.547768235206604]]], "std": [[[0.29826658964157104]], [[0.2985329329967499]], [[0.30006328225135803]]], "count": [1361]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6627451181411743]], [[0.6627451181411743]], [[0.6627451181411743]]], "mean": [[[0.0021473385859280825]], [[0.0021473385859280825]], [[0.0021473385859280825]]], "std": [[[0.028678467497229576]], [[0.028678467497229576]], [[0.028678467497229576]]], "count": [1361]}, "observation.images.tactile_raw": {"min": [[[0.027450980618596077]], [[0.027450980618596077]], [[0.027450980618596077]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46735697984695435]], [[0.46735697984695435]], [[0.46735697984695435]]], "std": [[[0.2348192036151886]], [[0.2348192036151886]], [[0.2348192036151886]]], "count": [1361]}}}
+{"episode_index": 39, "stats": {"observation.state": {"min": [0.9437714219093323, -0.7800185680389404, -0.13966715335845947, 1.131269097328186, -0.059669334441423416, -0.7700408697128296, 0.5199732184410095, 0.006242210045456886, -0.19045792520046234, 9.754304483067244e-05, 0.002352585317566991, 0.0030907245818525553, -0.0677577406167984, 3.066395947826095e-05, 0.0034186951816082, 0.0008345218957401812, -0.16372783482074738, 0.0015832578064873815, 0.0034417416900396347, 0.0007981611997820437, -0.14465172588825226, 3.8269168726401404e-05, 0.00684058154001832, 0.0007870756671763957, 0.013168497011065483, -0.14348378777503967, -0.03762383013963699, 0.003527900669723749, 0.0008487114100717008, 1.014831781387329, -0.9787114262580872, -0.23312853276729584, 1.0739768743515015, -1.1988539695739746, -0.8235143423080444, -0.326968252658844, 0.007569644134491682, -0.31691431999206543, 0.003045235062018037, -0.20383623242378235, 0.003496699035167694, 0.005139822605997324, -0.142736554145813, 0.0031357540283352137, 0.0007888493710197508, 0.0038058042991906404, -0.04490157589316368, 0.002739352872595191, 0.0008664483320899308, -0.00026911013992503285, -0.035415519028902054, 0.0021380139514803886, 0.0008442771504633129, 0.005733856465667486, -0.06075255572795868, -0.03777126967906952, 0.0034878349397331476, 0.0008801944786682725, 0.5598071217536926, -1.1073423624038696, 0.5442755818367004, -0.03355582803487778, -0.05330583080649376, 9.58738019107841e-05, -0.8729309439659119], "max": [1.1859627962112427, -0.652898371219635, 4.793690095539205e-06, 1.570007085800171, 3.631220170063898e-05, -0.08764614909887314, 0.6981626152992249, 1.2040624618530273, 1.9513059669407085e-05, 0.26391664147377014, 0.31458160281181335, 0.47962284088134766, 0.29321691393852234, 0.11393862962722778, 0.1619465947151184, 0.29069963097572327, 0.003692959900945425, 0.13602623343467712, 0.23166675865650177, 0.012333807535469532, 0.005476885009557009, 0.15030351281166077, 0.2705055773258209, 0.332154780626297, 0.014202453196048737, 0.02481720969080925, 0.03331317752599716, 0.08651050925254822, 0.07774887979030609, 1.3024739027023315, -0.4641380310058594, -8.640626765554771e-05, 1.7169086933135986, 0.17126667499542236, -0.16762478649616241, 0.5781000852584839, 1.5292198657989502, 0.0004704830062109977, 0.6977078914642334, 0.31627964973449707, 0.3668183386325836, 1.1664022207260132, 0.26067742705345154, 0.6148999929428101, 0.8533473610877991, 1.4687167406082153, 0.2767241895198822, 1.655669927597046, 1.3082407712936401, 1.4686254262924194, 0.22351771593093872, 1.6548711061477661, 1.3082104921340942, 0.06139518320560455, 1.4684988260269165, 0.31457841396331787, 1.6547406911849976, 1.3081862926483154, 0.5627791881561279, -1.1060001850128174, 0.703905463218689, 0.010354369878768921, 0.0051771849393844604, 0.15857526659965515, -0.6000741124153137], "mean": [1.0995250940322876, -0.7139416933059692, -0.130073681473732, 1.1931805610656738, -0.056746385991573334, -0.1961655169725418, 0.625802755355835, 1.1546380519866943, -0.1801934838294983, 0.21219651401042938, 0.2929605543613434, 0.4628709852695465, 0.19880038499832153, 0.09282168745994568, 0.15032613277435303, 0.27909448742866516, -0.03795599192380905, 0.11496414989233017, 0.1321454644203186, 0.004310961812734604, -0.04094841703772545, 0.10490964353084564, 0.17005082964897156, 0.31790924072265625, 0.013910382986068726, -0.03045971877872944, 0.0028891374822705984, 0.017611835151910782, 0.01477236021310091, 1.0719225406646729, -0.7625386714935303, -0.21841581165790558, 1.5338237285614014, -1.0816497802734375, -0.5388141870498657, -0.050073131918907166, 1.3325600624084473, -0.27321645617485046, 0.48871585726737976, 0.037267155945301056, 0.1122298464179039, 0.9289674758911133, 0.16823045909404755, 0.08339875191450119, 0.4972623884677887, 1.3517463207244873, 0.17578311264514923, 1.5029243230819702, 1.1522051095962524, 1.3367544412612915, 0.1485886424779892, 1.5106366872787476, 1.1863855123519897, 0.05572802200913429, 1.3344355821609497, 0.25237762928009033, 1.5282152891159058, 1.2080888748168945, 0.5602473020553589, -1.1069459915161133, 0.6668183207511902, -0.024649813771247864, -0.014714543707668781, 0.1356956511735916, -0.8591954708099365], "std": [0.026531871408224106, 0.015034779906272888, 0.02218378521502018, 0.060900550335645676, 0.009023561142385006, 0.11335761845111847, 0.036449287086725235, 0.19271939992904663, 0.03204188868403435, 0.05886172503232956, 0.05096931755542755, 0.08116436004638672, 0.09310521185398102, 0.0171382836997509, 0.03588920831680298, 0.04946395009756088, 0.02079828828573227, 0.021162379533052444, 0.04901270195841789, 0.004071803297847509, 0.01825788803398609, 0.029147157445549965, 0.0742989107966423, 0.05631081387400627, 0.00020800100173801184, 0.04354262724518776, 0.02004752866923809, 0.026184184476733208, 0.023789390921592712, 0.060511309653520584, 0.13421116769313812, 0.03588288649916649, 0.17618323862552643, 0.301778644323349, 0.11855301260948181, 0.20698313415050507, 0.22113966941833496, 0.05964116379618645, 0.14665977656841278, 0.10131422430276871, 0.09424859285354614, 0.24194203317165375, 0.08003616333007812, 0.080088309943676, 0.2562137842178345, 0.37401363253593445, 0.05999672785401344, 0.4646007716655731, 0.3620605766773224, 0.39169609546661377, 0.05192454531788826, 0.45732879638671875, 0.36794060468673706, 0.015477768145501614, 0.4181065261363983, 0.08252882957458496, 0.41708624362945557, 0.32917678356170654, 0.0003582054050639272, 9.60669931373559e-05, 0.02641996555030346, 0.010447107255458832, 0.009072031825780869, 0.026495710015296936, 0.04938528686761856], "count": [1219]}, "observation.state.joint_torque": {"min": [-37.82550048828125, -8.206500053405762, -17.69099998474121, -11.465999603271484, -0.6959999799728394, -0.9872000217437744, 1.1344000101089478, -0.8277928829193115, -0.6609606742858887, -0.2845759391784668, -0.5231723189353943, -0.1062563955783844, -0.2792040705680847, -0.21875783801078796, -0.10293588042259216, -0.03496164828538895, -0.2225957065820694, -0.3530828356742859, -0.09297433495521545, -0.03424813970923424, -0.7282333374023438, -0.6447599530220032, -0.2125127911567688, -0.04423718526959419, -0.0013194032944738865, -0.3972181975841522, -0.5296242833137512, -0.07803203910589218, -0.03638865053653717, 1.7115000486373901, -18.592500686645508, -6.14300012588501, -12.493000030517578, -2.11680006980896, -4.887199878692627, -3.864799976348877, -2.299990653991699, -0.6915254592895508, -0.7120611071586609, -1.1370609998703003, -0.2822435200214386, -1.1340867280960083, -1.0438971519470215, -0.7022882699966431, -0.21333740651607513, -1.0410187244415283, -0.6898548007011414, -0.5478845238685608, -0.09774991124868393, -1.1321678161621094, -0.3684343099594116, -0.10293588042259216, -0.11844149231910706, -0.14469456672668457, -0.31086641550064087, -0.893261194229126, -0.6973075270652771, -0.15411663055419922, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-14.789999961853027, 18.535499572753906, -5.250999927520752, 5.0920000076293945, 1.9191999435424805, 2.045599937438965, 3.2344000339508057, 1.0608484745025635, 0.29036426544189453, 0.5890348553657532, 0.7369149327278137, 0.11787818372249603, 0.3271773159503937, 0.20244695246219635, 0.07305127382278442, 0.016410568729043007, 0.2437039166688919, 0.22067677974700928, 0.12119869887828827, 0.014983562752604485, 0.3693937361240387, 0.8520042300224304, 0.11621791869401932, 0.019978083670139313, 0.003518408630043268, 0.8961396217346191, 0.2513796389102936, 0.24903841316699982, 0.019264578819274902, 41.54399871826172, 22.749000549316406, 20.78700065612793, 6.551000118255615, 0.574400007724762, 2.650399923324585, 3.447999954223633, 2.471916913986206, 3.2691450119018555, 1.6130110025405884, 2.1995604038238525, 0.556185781955719, 2.144402503967285, 1.7884413003921509, 1.0592433214187622, 0.21405088901519775, 1.551453709602356, 0.3924209177494049, 0.14278201758861542, 0.1719542145729065, 1.478534460067749, 0.25713637471199036, 0.3901601731777191, 0.11701448261737823, 0.09763585031032562, 1.035261869430542, 0.5536108613014221, 0.5910511612892151, 0.14983563125133514, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.758394241333008, 4.253035545349121, -12.097234725952148, -3.402750253677368, 0.4213246703147888, -0.047454677522182465, 2.1444079875946045, -0.02478206343948841, -0.037916410714387894, 0.0698385015130043, 0.013482049107551575, 0.00023426189727615565, 0.0374758318066597, -0.005881933961063623, 0.0024161592591553926, 0.004005341324955225, 0.002568282652646303, -0.006645405199378729, 0.01214482169598341, -0.006029361858963966, -0.13450129330158234, 0.22719866037368774, 0.009623771533370018, -0.00016330422658938915, -3.680035661091097e-05, 0.1320779025554657, -0.04953888803720474, 0.017912786453962326, -0.004409791436046362, 20.230976104736328, 3.948854684829712, 10.247258186340332, -5.5731329917907715, -0.7495902180671692, 0.9907864332199097, -1.0220427513122559, -0.004489205311983824, 0.43920788168907166, 0.25436797738075256, 0.23374895751476288, 0.07462165504693985, 0.6124729514122009, -0.004381731152534485, 0.26953741908073425, 0.056086331605911255, 0.006007044110447168, -0.02428811974823475, 0.00023834570311009884, 0.0008498825482092798, 0.019975561648607254, -0.002066120272502303, 0.0010923107620328665, -0.0010617676889523864, 0.00047841097693890333, 0.018532000482082367, -0.010050375945866108, 0.000855329679325223, 0.0011003970867022872, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.1377153396606445, 1.211564302444458, 0.6500258445739746, 0.7770681977272034, 0.21021315455436707, 0.28197985887527466, 0.21143785119056702, 0.13444694876670837, 0.0950140729546547, 0.09511946141719818, 0.08888185024261475, 0.013281255960464478, 0.0632404312491417, 0.04114167392253876, 0.012850389815866947, 0.005669449921697378, 0.04167377948760986, 0.049691323190927505, 0.01850035972893238, 0.0098897535353899, 0.1905374377965927, 0.20197252929210663, 0.023130573332309723, 0.005553598050028086, 0.00040219767834059894, 0.15776707231998444, 0.09066176414489746, 0.045410990715026855, 0.01099714357405901, 4.542057991027832, 2.5238685607910156, 2.7002670764923096, 1.6577309370040894, 0.24871401488780975, 0.9832332730293274, 0.9154101014137268, 0.6011461615562439, 0.7454454898834229, 0.4333394169807434, 0.5652337670326233, 0.13773807883262634, 0.9465752243995667, 0.27268415689468384, 0.445328950881958, 0.10581143945455551, 0.09049926698207855, 0.09314626455307007, 0.018772991374135017, 0.011875090189278126, 0.09033218771219254, 0.06741167604923248, 0.017671875655651093, 0.010435688309371471, 0.01568637602031231, 0.07163126021623611, 0.08098257333040237, 0.03169219568371773, 0.009211910888552666, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1219]}, "observation.state.tcp": {"min": [0.3617894649505615, 0.19194261729717255, 0.9167707562446594, -1.2093781232833862, 1.2119777202606201, -1.5462121963500977, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.28757548332214355, -0.26844823360443115, 0.9009398221969604, -0.11673290282487869, 1.2179619073867798, 0.48361101746559143, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4483058452606201, 0.24510018527507782, 1.0517884492874146, -0.9664268493652344, 1.5278840065002441, -1.2288365364074707, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.48983877897262573, -0.06447626650333405, 1.051744818687439, 1.3281877040863037, 2.1156346797943115, 1.4320099353790283, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.42791783809661865, 0.23443478345870972, 0.9450110793113708, -1.1235551834106445, 1.4435100555419922, -1.485410451889038, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3354123532772064, -0.17461881041526794, 0.9400176405906677, 0.28503113985061646, 1.9279178380966187, 0.8092676401138306, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.012635845690965652, 0.008979876525700092, 0.02170485071837902, 0.046647507697343826, 0.06740125268697739, 0.057484593242406845, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04709502309560776, 0.04109567776322365, 0.026052182540297508, 0.2650621831417084, 0.1915862262248993, 0.18588420748710632, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1219]}, "action": {"min": [0.9446206092834473, -0.7799999713897705, -0.13969026505947113, 1.1316732168197632, -0.059634413570165634, -0.7699999809265137, 0.5199999809265137, 0.0, -0.19998222589492798, 0.0, 0.0, 0.0, -0.0897042453289032, 0.0, 0.0, 0.0, -0.1745329201221466, 0.0, 0.0, 0.0, -0.17252013087272644, 0.0, 0.0, 0.0, 0.0, -0.15084369480609894, -0.0915488675236702, 0.0, 0.0, 1.0147533416748047, -0.9788385033607483, -0.23316384851932526, 1.0738269090652466, -1.1988242864608765, -0.8242262601852417, -0.32718008756637573, 0.0, -0.3195279538631439, 0.0, -0.20573431253433228, -0.09687474370002747, 0.0, -0.14945656061172485, 0.0, 0.0, 0.0, -0.06527937203645706, 0.0, 0.0, 0.0, -0.07486683875322342, 0.0, 0.0, 0.0, -0.06281669437885284, -0.13315826654434204, 0.0, 0.0, 0.5600947141647339, -1.1070547103881836, 0.5442397594451904, -0.033791523426771164, -0.06252159178256989, 0.0, -0.8728348612785339], "max": [1.1859577894210815, -0.6530064344406128, 0.0, 1.5700000524520874, 0.0, -0.08763382583856583, 0.881135880947113, 1.2085850238800049, 0.0, 0.26871928572654724, 0.33125466108322144, 0.4822549521923065, 0.301758736371994, 0.11371701210737228, 0.16695278882980347, 0.29276981949806213, 0.0, 0.13691848516464233, 0.23655274510383606, 0.014208459295332432, 0.0, 0.15858596563339233, 0.27803802490234375, 0.33420661091804504, 0.011351441964507103, 0.030645295977592468, 0.03701787441968918, 0.09247983992099762, 0.07938344031572342, 1.3029099702835083, -0.464132159948349, -0.00021680325153283775, 1.7169102430343628, 0.17171171307563782, -0.16693800687789917, 0.5782886147499084, 1.53261399269104, 0.0, 0.7454633712768555, 0.3490658402442932, 0.38220641016960144, 1.2151044607162476, 0.27574366331100464, 0.726148784160614, 0.9226891994476318, 1.5707963705062866, 0.27775704860687256, 1.7453292608261108, 1.3962633609771729, 1.5707963705062866, 0.22943657636642456, 1.7453292608261108, 1.3962633609771729, 0.076990507543087, 1.5707963705062866, 0.3490658402442932, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.1068634986877441, 0.7041746377944946, 0.01045395340770483, 0.00542202265933156, 0.15930938720703125, -0.5999927520751953], "mean": [1.099489688873291, -0.7139031887054443, -0.13008832931518555, 1.1931391954421997, -0.05674485117197037, -0.19639524817466736, 0.6345405578613281, 1.1542917490005493, -0.18646246194839478, 0.21591447293758392, 0.29529786109924316, 0.46524786949157715, 0.20369523763656616, 0.0931689664721489, 0.15215176343917847, 0.2806684970855713, -0.041343580931425095, 0.1186043992638588, 0.13659287989139557, 0.004013356287032366, -0.04073747247457504, 0.11159290373325348, 0.17325380444526672, 0.31917059421539307, 0.0018192491261288524, -0.027781235054135323, 1.5245635722749284e-06, 0.0176077987998724, 0.015087208710610867, 1.0720313787460327, -0.7628157138824463, -0.21844732761383057, 1.5336982011795044, -1.082505464553833, -0.5385339856147766, -0.050175741314888, 1.3322399854660034, -0.2724524140357971, 0.4922570586204529, 0.04312489181756973, 0.10565996915102005, 0.9534944891929626, 0.17147581279277802, 0.09354109317064285, 0.5266450047492981, 1.443381905555725, 0.17595262825489044, 1.5695676803588867, 1.1725915670394897, 1.3955278396606445, 0.14779996871948242, 1.5953240394592285, 1.2446599006652832, 0.064151331782341, 1.4298014640808105, 0.2532028555870056, 1.6107324361801147, 1.2885677814483643, 0.5603495240211487, -1.1070516109466553, 0.6668646931648254, -0.024690914899110794, -0.014744812622666359, 0.13570597767829895, -0.8589924573898315], "std": [0.02635708637535572, 0.015071433037519455, 0.02216450497508049, 0.06097472086548805, 0.009031912311911583, 0.11381104588508606, 0.05833866819739342, 0.20880383253097534, 0.03641491010785103, 0.061780206859111786, 0.056681547313928604, 0.08896327018737793, 0.09784729778766632, 0.018598714843392372, 0.039067886769771576, 0.05374116078019142, 0.02434157393872738, 0.024205170571804047, 0.05207750201225281, 0.00553533062338829, 0.02150941640138626, 0.03311332315206528, 0.07827997952699661, 0.06107565760612488, 0.004108126275241375, 0.046594202518463135, 0.02781328558921814, 0.029306357726454735, 0.025122422724962234, 0.06044706329703331, 0.134408101439476, 0.0358368456363678, 0.17606382071971893, 0.29970255494117737, 0.11998232454061508, 0.2061535269021988, 0.23830516636371613, 0.06446188688278198, 0.15665459632873535, 0.10262136906385422, 0.10420463979244232, 0.2629215717315674, 0.07820282876491547, 0.08333104103803635, 0.28607574105262756, 0.40582185983657837, 0.06020151451230049, 0.48581451177597046, 0.37087368965148926, 0.41570422053337097, 0.055453792214393616, 0.4854244291782379, 0.387105256319046, 0.020045403391122818, 0.4493233561515808, 0.09114911407232285, 0.44461098313331604, 0.35568276047706604, 0.0003582944336812943, 2.187065183534287e-05, 0.026829486712813377, 0.010492764413356781, 0.009287009947001934, 0.026741281151771545, 0.04984324797987938], "count": [1219]}, "observation.state.tcp_pose": {"min": [0.3617894649505615, 0.19194261729717255, 0.9167707562446594, -1.2093781232833862, 1.2119777202606201, -1.5462121963500977, 0.28757548332214355, -0.26844823360443115, 0.9009398221969604, -0.11673290282487869, 1.2179619073867798, 0.48361101746559143], "max": [0.4483058452606201, 0.24510018527507782, 1.0517884492874146, -0.9664268493652344, 1.5278840065002441, -1.2288365364074707, 0.48983877897262573, -0.06447626650333405, 1.051744818687439, 1.3281877040863037, 2.1156346797943115, 1.4320099353790283], "mean": [0.42791783809661865, 0.23443478345870972, 0.9450110793113708, -1.1235551834106445, 1.4435100555419922, -1.485410451889038, 0.3354123532772064, -0.17461881041526794, 0.9400176405906677, 0.28503113985061646, 1.9279178380966187, 0.8092676401138306], "std": [0.012635845690965652, 0.008979876525700092, 0.02170485071837902, 0.046647507697343826, 0.06740125268697739, 0.057484593242406845, 0.04709502309560776, 0.04109567776322365, 0.026052182540297508, 0.2650621831417084, 0.1915862262248993, 0.18588420748710632], "count": [1219]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.1924280971288681, 0.9225720167160034, -1.208855390548706, 1.1283854246139526, -1.5463241338729858, 0.2876023054122925, -0.26786866784095764, 0.901070773601532, -0.11741847544908524, 1.2181774377822876, 0.4840168356895447], "max": [0.4440803527832031, 0.24523614346981049, 1.0518032312393188, -0.8413153290748596, 1.5267313718795776, -1.2289544343948364, 0.49037596583366394, -0.06460274755954742, 1.0517092943191528, 1.3308545351028442, 2.1168994903564453, 1.4324802160263062], "mean": [0.4278973639011383, 0.23442481458187103, 0.9455389976501465, -1.1177748441696167, 1.4362879991531372, -1.4896775484085083, 0.3354957699775696, -0.1747407764196396, 0.939985454082489, 0.28435152769088745, 1.9280978441238403, 0.8090884685516357], "std": [0.01264630351215601, 0.008840435184538364, 0.022117363288998604, 0.06110246852040291, 0.08216851204633713, 0.05365464836359024, 0.0471317395567894, 0.04107372835278511, 0.02583073079586029, 0.264434278011322, 0.19014067947864532, 0.18649940192699432], "count": [1219]}, "subtask_index": {"min": [64], "max": [1212], "mean": [1179.5652173913043], "std": [140.62354858306279], "count": [1219]}, "observation.tactile": {"min": [-0.011761232279241085, -3.535848736646585e-05, -7.906944665592164e-05, -0.0011133510852232575, -0.00018853633082471788, -0.00017464633856434375, -0.008540952578186989, -2.0710893295472488e-05, -4.218311732984148e-05, -0.001031060004606843, -1.5698979041189887e-05, -0.00017641334852669388, -0.018390173092484474, -3.327427839394659e-05, -7.393566920654848e-05, -0.0017662394093349576, -3.0080453143455088e-05, -0.0003980582987423986, -0.25754961371421814, -3.2812939025461674e-05, -7.078760245349258e-05, -0.0011918279342353344, -0.00010378625302109867, -0.0033731884323060513, -0.00240989588201046, -5.0363825721433386e-05, -0.00011400577932363376, -0.0005783130181953311, -1.0461929377925117e-05, -5.588045678450726e-05, -1.9122339487075806, -3.838579868897796e-05, -8.549348422093317e-05, -0.1516180783510208, -0.005068958271294832, -0.043480899184942245, -5.701972961425781, 0.0, 0.0, -0.3136654198169708, -0.022366942837834358, -0.10747434198856354, -0.0038047556299716234, -4.634091965272091e-05, -0.00010464928345754743, -0.0015667808474972844, -3.317998198326677e-05, -7.142382673919201e-05, -0.010612066835165024, -4.5984423195477575e-05, -0.00010071798169519752, -0.0015253344317898154, -5.5338521633530036e-05, -0.00025802964228205383, -0.006619099527597427, -4.211232590023428e-05, -9.435840183869004e-05, -0.00124576676171273, -5.562249862123281e-05, -0.00013664941070601344], "max": [0.0005784705281257629, 0.021357249468564987, 0.06011868640780449, 1.4980114428908564e-06, 5.729480108129792e-05, 5.978230092296144e-06, 0.009751616045832634, 0.019417569041252136, 0.05564337968826294, 8.02743102212844e-07, 0.00024725456023588777, 9.085865167435259e-05, 0.002425326034426689, 0.026036957278847694, 0.07690810412168503, 1.4018488627698389e-06, 0.000120374774269294, 2.7845646400237456e-05, 0.0002577262348495424, 0.03220956027507782, 0.06948854774236679, 1.2776650919477106e-06, 6.709246372338384e-05, 5.3549565564026125e-06, 0.0003664245014078915, 0.011243067681789398, 0.03174065798521042, 2.2079805148678133e-06, 2.6209685529465787e-05, 7.859032848500647e-06, 7.548094272613525, 6.324825286865234, 7.490562915802002, 1.577887360326713e-06, 0.025678863748908043, 0.15831293165683746, 5.1360039710998535, 9.680663108825684, 15.935916900634766, 0.0, 0.008623332716524601, 0.09704598039388657, 0.052032191306352615, 0.03018525056540966, 0.09340653568506241, 1.929117388499435e-06, 0.0004059523344039917, 0.0007360183517448604, 0.03999912738800049, 0.033711787313222885, 0.09657495468854904, 1.8807595552061684e-06, 0.00043223940883763134, 0.000554458936676383, 0.0077826399356126785, 0.01958349347114563, 0.05674563720822334, 1.7447297295802855e-06, 0.0001688121847109869, 8.206793427234516e-05], "mean": [-0.0013559680664911866, 0.003319724230095744, 0.0096147321164608, -0.0001702939043752849, -8.23084428702714e-06, -1.993395017052535e-05, -0.0002003942063311115, 0.001256713061593473, 0.0036931191571056843, -6.1024031310807914e-05, 9.56710209720768e-06, -5.999173026793869e-06, -0.0013048474211245775, 0.0030517438426613808, 0.008945003151893616, -0.00018798283417709172, 1.03115635283757e-05, -3.0652445275336504e-05, -0.0017115684458985925, 0.004018366802483797, 0.011865776032209396, -0.00022363511379808187, -8.170802061613358e-07, -3.0376117138075642e-05, 0.0002244730421807617, 0.0003880691947415471, 0.0011478830128908157, -2.3484335542889312e-05, -9.238871712113905e-07, 4.758878276334144e-06, 1.0189313888549805, 1.2356065511703491, 1.7309579849243164, -0.03477561101317406, 0.0032615482341498137, 0.019483858719468117, -0.42459818720817566, 2.538989543914795, 3.9260146617889404, -0.08188927173614502, -0.0035133222118020058, -0.006589812226593494, 0.0017400354845449328, 0.002641677390784025, 0.007948839105665684, -0.00013948480773251504, 2.857515573850833e-05, 1.944720497704111e-05, 0.0007697898545302451, 0.003679694142192602, 0.01091208029538393, -0.00018887018086388707, 3.5247954656369984e-05, 7.88472618751257e-07, -0.0013966306578367949, 0.005520489998161793, 0.015848355367779732, -0.00034362616133876145, -2.8089389161323197e-06, -2.9642003937624395e-05], "std": [0.0018259475473314524, 0.003432685974985361, 0.009805682115256786, 0.00017200229922309518, 2.8850956368842162e-05, 2.7075751859229058e-05, 0.0011041959514841437, 0.002817875472828746, 0.008273857645690441, 0.00014270648534875363, 2.6742634872789495e-05, 2.1397785531007685e-05, 0.002598006743937731, 0.00527492118999362, 0.015388812869787216, 0.00033382457331754267, 2.1437292161863297e-05, 5.938819595030509e-05, 0.007520462851971388, 0.00409900164231658, 0.01184906903654337, 0.0002251531113870442, 1.0567636309133377e-05, 0.00010093637683894485, 0.00028944291989319026, 0.0012721037492156029, 0.0036346372216939926, 7.36226502340287e-05, 2.393970589764649e-06, 6.426580512197688e-06, 1.8968322277069092, 1.9075310230255127, 2.546442747116089, 0.051389068365097046, 0.006051721051335335, 0.03744136542081833, 1.7666473388671875, 3.580617666244507, 5.447745323181152, 0.11155122518539429, 0.006057967431843281, 0.03248489275574684, 0.005275782663375139, 0.004138578660786152, 0.012731214053928852, 0.00021742965327575803, 5.5144380894489586e-05, 7.253582589328289e-05, 0.0039015356451272964, 0.005000974051654339, 0.014880824834108353, 0.0002668613742571324, 6.296716310316697e-05, 5.9017620515078306e-05, 0.0012433123774826527, 0.004123994614928961, 0.01190401241183281, 0.00026033827452920377, 2.0409530407050624e-05, 2.364181273151189e-05], "count": [1219]}, "timestamp": {"min": [0.0], "max": [40.6], "mean": [20.3], "std": [11.729829022150701], "count": [1219]}, "frame_index": {"min": [0], "max": [1218], "mean": [609.0], "std": [351.8948706645211], "count": [1219]}, "episode_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1219]}, "index": {"min": [65558], "max": [66776], "mean": [66167.0], "std": [351.8948706645211], "count": [1219]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1219]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5409922003746033]], [[0.5407622456550598]], [[0.542774498462677]]], "std": [[[0.29847994446754456]], [[0.29858672618865967]], [[0.2999096214771271]]], "count": [1219]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24854178726673126]], [[0.24921755492687225]], [[0.25041818618774414]]], "std": [[[0.15706506371498108]], [[0.1587023288011551]], [[0.15856358408927917]]], "count": [1219]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.18791082501411438]], [[0.18833968043327332]], [[0.18827009201049805]]], "std": [[[0.12361322343349457]], [[0.12369600683450699]], [[0.1268257051706314]]], "count": [1219]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.545367419719696]], [[0.5451359748840332]], [[0.5477242469787598]]], "std": [[[0.29869213700294495]], [[0.2987593412399292]], [[0.3008324205875397]]], "count": [1219]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5843137502670288]], [[0.5843137502670288]], [[0.5843137502670288]]], "mean": [[[0.0015935730189085007]], [[0.0015935730189085007]], [[0.0015935730189085007]]], "std": [[[0.024137115105986595]], [[0.024137115105986595]], [[0.024137115105986595]]], "count": [1219]}, "observation.images.tactile_raw": {"min": [[[0.027450980618596077]], [[0.027450980618596077]], [[0.027450980618596077]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4674101769924164]], [[0.4674101769924164]], [[0.4674101769924164]]], "std": [[[0.23471014201641083]], [[0.23471014201641083]], [[0.23471014201641083]]], "count": [1219]}}}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/info.json b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5a4f69eaab6ff60552484b740a65d7d5621e7ea
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 40,
+    "total_frames": 66777,
+    "total_tasks": 1,
+    "total_videos": 240,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:40"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.state": {
+            "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.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/modality.json b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_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_07_15_39_59_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_07_15_39_59_train/lerobot_v2.1/meta/subtasks.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..432d6e91953d98ee34df4f1a71a995aca22109e7
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,1213 @@
+{"subtask_index": 0, "subtask": "Left hand: return_home: Left hand moves upward to the natural resting position at the left side of the table. | Right hand: reach: Right hand moves downward and leftward from the right edge of the black table toward the blue building block on the table."}
+{"subtask_index": 1, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves downward and leftward from the right edge of the black table toward the blue building block on the table."}
+{"subtask_index": 2, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves leftward and downward toward the small green Lego block on the table."}
+{"subtask_index": 3, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the small green Lego block on the table, with fingers closing around the block to adjust the grip."}
+{"subtask_index": 4, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers and makes slight adjustments to grasp the small green 1x1 block on the table."}
+{"subtask_index": 5, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the small green 1x1 block on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 6, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the small green 1x1 block upward from the table until the block completely leaves the table surface."}
+{"subtask_index": 7, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the small green 1x1 block in the air, moving it slightly leftward and downward while rotating the block slightly to adjust its orientation."}
+{"subtask_index": 8, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the small green 1x1 block downward onto the black table until the block is stably supported by the table."}
+{"subtask_index": 9, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the small green 1x1 block on the table, with fingers gradually opening and separating from the block."}
+{"subtask_index": 10, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the small green 1x1 block after releasing it."}
+{"subtask_index": 11, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving."}
+{"subtask_index": 12, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and moves it above the larger green block."}
+{"subtask_index": 13, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place_mate: Right hand places the small green block onto the top of the larger green block and adjusts it for assembly alignment."}
+{"subtask_index": 14, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the small green block on top of the larger green block without moving."}
+{"subtask_index": 15, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the small green block on the black table, with fingers gradually opening to release the block."}
+{"subtask_index": 16, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand moves upward and rightward away from the green block on the table while empty."}
+{"subtask_index": 17, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves toward the blue 2x2 block on the table, approaching the block."}
+{"subtask_index": 18, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the blue 2x2 block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 19, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue 2x2 block on the table without moving."}
+{"subtask_index": 20, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue 2x2 block on the table."}
+{"subtask_index": 21, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the blue 2x2 block up from the dark table surface."}
+{"subtask_index": 22, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the blue 2x2 block leftward and downward toward the green block."}
+{"subtask_index": 23, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the blue 2x2 block onto the green block until it is stably supported."}
+{"subtask_index": 24, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue 2x2 block on top of the green block without moving."}
+{"subtask_index": 25, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the blue 2x2 block by opening its fingers."}
+{"subtask_index": 26, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the blue 2x2 block."}
+{"subtask_index": 27, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves leftward and downward to approach the blue block stacked on top of the green block."}
+{"subtask_index": 28, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the blue block stacked on the green block, with fingers adjusting to stably hold the block."}
+{"subtask_index": 29, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue block stacked on the green block without moving."}
+{"subtask_index": 30, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the blue block, with fingers opening and fully separating from the block surface."}
+{"subtask_index": 31, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves rightward and upward to approach the orange block on the black surface."}
+{"subtask_index": 32, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the orange 2x2 block on the table, with slight finger adjustments to form a stable grip."}
+{"subtask_index": 33, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the orange 2x2 block off the black table surface."}
+{"subtask_index": 34, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the orange 2x2 block leftward and downward to above the green building block."}
+{"subtask_index": 35, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the orange 2x2 block onto the top surface of the green block."}
+{"subtask_index": 36, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: mate: Right hand adjusts the orange 2x2 block horizontally to align and mate with the adjacent blue block on the green base."}
+{"subtask_index": 37, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the orange 2x2 block on the green block without moving."}
+{"subtask_index": 38, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: press: Right hand presses the orange 2x2 block downward to fit it firmly onto the blocks below."}
+{"subtask_index": 39, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the orange 2x2 block, with fingers opening and separating from the block surface."}
+{"subtask_index": 40, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the orange block after releasing."}
+{"subtask_index": 41, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release_retreat: Right hand releases the orange block stacked on the green block and retreats rightward away from the block stack."}
+{"subtask_index": 42, "subtask": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose with fingers extending and wrist rotating slightly. | Right hand: release_retreat: Right hand releases the orange block stacked on the green block and retreats rightward away from the block stack."}
+{"subtask_index": 43, "subtask": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose with fingers extending and wrist rotating slightly. | Right hand: idle: Right hand remains empty at the right edge of the table without moving."}
+{"subtask_index": 44, "subtask": "Left hand: reach: Left hand moves toward the building blocks on the black table surface with fingers kept open. | Right hand: reach: Right hand moves toward the building blocks on the black table surface with fingers kept open."}
+{"subtask_index": 45, "subtask": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers and wrist to form a stable grasp on the small green block on the black table."}
+{"subtask_index": 46, "subtask": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift: Right hand lifts the small green block off the black table surface."}
+{"subtask_index": 47, "subtask": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: transport: Right hand transports the small green block above the larger green block on the table."}
+{"subtask_index": 48, "subtask": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand mates the small green block with the larger green block by aligning and pressing it down."}
+{"subtask_index": 49, "subtask": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the green building block on the black table surface along the normal direction."}
+{"subtask_index": 50, "subtask": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand moves towards the blue building block on the black table surface."}
+{"subtask_index": 51, "subtask": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the table, adjusting fingers to form a stable grip."}
+{"subtask_index": 52, "subtask": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift_transport: Right hand lifts the blue block from the table and transports it above the stacked green blocks."}
+{"subtask_index": 53, "subtask": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand aligns the blue block with the top of the stacked green blocks to prepare for assembly."}
+{"subtask_index": 54, "subtask": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the stacked green blocks to secure the assembly."}
+{"subtask_index": 55, "subtask": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand moves towards the orange block placed on the table."}
+{"subtask_index": 56, "subtask": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, with slight adjustments to stabilize the grip."}
+{"subtask_index": 57, "subtask": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift: Right hand lifts the grasped orange block off the table surface."}
+{"subtask_index": 58, "subtask": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: transport: Right hand carries the orange block to move above the stacked green and blue blocks."}
+{"subtask_index": 59, "subtask": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand places the orange block on top of the green block and presses to align and assemble them."}
+{"subtask_index": 60, "subtask": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand adjusts finger position and moves slowly towards the orange top block of the stacked building blocks."}
+{"subtask_index": 61, "subtask": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the orange building block vertically downward to secure it on the stacked blocks."}
+{"subtask_index": 62, "subtask": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: retreat: Right hand lifts off the orange block and moves backward away from the stacked building blocks."}
+{"subtask_index": 63, "subtask": "Left hand: return_home: Left empty hand moves back to its initial home position on the left side. | Right hand: return_home: Right empty hand moves back to its initial home position on the right side."}
+{"subtask_index": 64, "subtask": "Task: stack_blocks"}
+{"subtask_index": 65, "subtask": "Right hand: reach: Right hand moves downward from its initial right upper position toward the small green cubic Lego block on the black table surface, approaching the target without contact."}
+{"subtask_index": 66, "subtask": "Right hand: grasp: Right hand closes fingers around the small green cubic Lego block, making slight finger and wrist adjustments to establish a stable grasp while the block remains on the table."}
+{"subtask_index": 67, "subtask": "Right hand: lift_transport: Right hand lifts the grasped small green cubic Lego block off the table surface, then moves it horizontally to position it above the long green rectangular Lego block."}
+{"subtask_index": 68, "subtask": "Right hand: mate: Right hand aligns the held small green cubic Lego block with the connection studs on the long green rectangular Lego block, pressing slightly to fit the two blocks into an assembled state."}
+{"subtask_index": 69, "subtask": "Right hand: release: Right hand opens its fingers to release the assembled small green Lego block, separating the fingers from the block surface."}
+{"subtask_index": 70, "subtask": "Right hand: reach: Right hand moves right toward the blue building block on the dark flat surface, with fingers held open and extended."}
+{"subtask_index": 71, "subtask": "Right hand: grasp: Right hand closes fingers around the blue building block, making small grip adjustments while the block remains resting on the dark surface."}
+{"subtask_index": 72, "subtask": "Right hand: lift_transport: Right hand lifts the grasped blue building block off the dark surface while moving left to carry the block toward the stacked green building blocks."}
+{"subtask_index": 73, "subtask": "Right hand: mate: Right hand aligns the held blue building block with the top of the green building block stack, pressing down to fit the blocks together in an assembled position."}
+{"subtask_index": 74, "subtask": "Right hand: hold: Right hand holds the blue building block fitted on top of the green stack without any visible movement."}
+{"subtask_index": 75, "subtask": "Right hand: release: Right hand opens fingers to release grip on the blue building block."}
+{"subtask_index": 76, "subtask": "Right hand: grasp: Right hand closes fingers to establish a stable grasp on the dark blue block placed next to the stacked green blocks."}
+{"subtask_index": 77, "subtask": "Right hand: push_release: Right hand pushes the grasped blue block rightward across the table surface, then opens fingers to release the block onto the table."}
+{"subtask_index": 78, "subtask": "Right hand: retreat: Right hand moves empty upward and away from the released blue block on the table."}
+{"subtask_index": 79, "subtask": "Right hand: reach_grasp: Right hand moves empty back down toward the blue block, then closes fingers to grasp the block with small finger adjustments for a secure hold."}
+{"subtask_index": 80, "subtask": "Right hand: reorient_release: Right hand rotates the grasped blue block approximately 90 degrees to turn its studded surface upward, then opens fingers to release the reoriented block onto the table surface."}
+{"subtask_index": 81, "subtask": "Right hand: reach_grasp: Right hand moves toward the blue block resting on the dark table surface, closes fingers around the block and makes slight finger and wrist adjustments to form a stable grip, with the block remaining on the table."}
+{"subtask_index": 82, "subtask": "Right hand: lift_transport: Right hand lifts the grasped blue block completely off the table surface, moving the block leftward toward the nearby long green block."}
+{"subtask_index": 83, "subtask": "Right hand: mate: Right hand lowers the blue block to the table surface, adjusting the block's position and orientation to align it flush against the side of the long green block."}
+{"subtask_index": 84, "subtask": "Right hand: hold: Right hand holds the aligned blue block steadily against the long green block on the table surface without any observable movement."}
+{"subtask_index": 85, "subtask": "Right hand: release: Right hand opens fingers to release the grasped blue block, beginning to move away from the block's surface."}
+{"subtask_index": 86, "subtask": "Right hand: release: Right hand gradually opens its fingers to release the blue block attached to the stacked green block, fully separating from the block by the end of the segment."}
+{"subtask_index": 87, "subtask": "Right hand: reach: Right hand moves left across the dark table surface toward the small orange block, approaching the block without establishing contact."}
+{"subtask_index": 88, "subtask": "Right hand: grasp: Right hand adjusts its finger positions and closes fingers to establish a stable grasp on the orange block resting on the dark work surface."}
+{"subtask_index": 89, "subtask": "Right hand: lift: Right hand lifts the grasped orange block vertically upward until the block is completely separated from the dark work surface."}
+{"subtask_index": 90, "subtask": "Right hand: transport_place: Right hand moves the lifted orange block horizontally to a position above the stacked blocks and lowers the block to rest on the top surface of the underlying green block."}
+{"subtask_index": 91, "subtask": "Right hand: mate: Right hand adjusts the position of the orange block to align and fit it properly with the underlying green block to form the assembly."}
+{"subtask_index": 92, "subtask": "Right hand: release: Right hand opens its fingers gradually to release its grip on the assembled orange block."}
+{"subtask_index": 93, "subtask": "Right hand: press: Right hand uses its extended index finger to apply downward vertical pressure on the top surface of the orange block to secure the assembly."}
+{"subtask_index": 94, "subtask": "Right hand: retreat: Right hand moves upward and backward while empty, moving away from the stacked building blocks on the dark table surface."}
+{"subtask_index": 95, "subtask": "Left hand: other:move_upward_backward: Left hand moves upward and backward while empty, with fingers spreading slightly as it moves. | Right hand: retreat: Right hand moves upward and backward while empty, moving away from the stacked building blocks on the dark table surface."}
+{"subtask_index": 96, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from its initial raised position, empty with fingers extended, approaching the small blue lego block resting on the right area of the black table surface."}
+{"subtask_index": 97, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the small blue lego block, repeatedly adjusts finger positions and gradually closes fingers to form a stable grip on the block, which stays on the table surface during this period."}
+{"subtask_index": 98, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped blue lego block completely off the table surface, then moves the block downward and leftward to the area adjacent to the small orange lego block."}
+{"subtask_index": 99, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: place: Right hand lowers the grasped blue lego block until it rests stably on the table surface next to the orange lego block, with the block supported by the table."}
+{"subtask_index": 100, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: reach: Right hand moves left across the dark table surface toward the small green lego block, staying empty without touching any objects during movement."}
+{"subtask_index": 101, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the small green lego block on the table, closing fingers gradually to form a stable grip on the block."}
+{"subtask_index": 102, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the small green lego block upward, raising it until the block is fully separated from the table surface."}
+{"subtask_index": 103, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted small green lego block upward and slightly rightward to a stationary position in the air above the table."}
+{"subtask_index": 104, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: hold: Right hand holds the small green lego block motionless in the air, with no visible movement of the hand, wrist, fingers or the block."}
+{"subtask_index": 105, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: place: Right hand moves the small green lego block downward and slightly leftward toward the table surface to position it for placement."}
+{"subtask_index": 106, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes around the small green lego block resting on the dark table surface to form a stable grasp."}
+{"subtask_index": 107, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the small green lego block upward until it is fully separated from the table surface."}
+{"subtask_index": 108, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: transport: Right hand carries the small green lego block leftward through the air toward the left hand."}
+{"subtask_index": 109, "subtask": "Left hand: reach_grasp: Left hand moves rightward toward the small green lego block held by the right hand, adjusts its fingers and closes around the block to establish a stable grasp. | Right hand: transport: Right hand carries the small green lego block leftward through the air toward the left hand."}
+{"subtask_index": 110, "subtask": "Left hand: reach_grasp: Left hand moves rightward toward the small green lego block held by the right hand, adjusts its fingers and closes around the block to establish a stable grasp. | Right hand: hold: Right hand holds the small green lego block steadily in the space between the two hands without noticeable movement."}
+{"subtask_index": 111, "subtask": "Left hand: hold: Left hand holds the small green lego block steadily without noticeable movement as the right hand releases the block. | Right hand: release: Right hand opens its fingers to release the small green lego block, separating from the block."}
+{"subtask_index": 112, "subtask": "Left hand: place: Left hand holds the small green lego block, moves downward, and places it onto the dark gray table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}
+{"subtask_index": 113, "subtask": "Left hand: hold: Left hand holds the small green lego block resting on the dark gray table surface without any visible movement. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}
+{"subtask_index": 114, "subtask": "Left hand: lift: Left hand holds the small green lego block and moves upward to lift it off the dark gray table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}
+{"subtask_index": 115, "subtask": "Left hand: lift_transport: Left hand lifts the small green lego block off the dark table surface, then transports the block upward and rightward to the position between the two hands. | Right hand: reach: Right hand moves leftward from its initial position near the blue lego block with fingers extended, approaching the small green lego block held by the left hand."}
+{"subtask_index": 116, "subtask": "Left hand: hold: Left hand holds the small green lego block steadily between the two hands without any visible movement of the hand or the block. | Right hand: reach: Right hand moves leftward from its initial position near the blue lego block with fingers extended, approaching the small green lego block held by the left hand."}
+{"subtask_index": 117, "subtask": "Left hand: hold: Left hand holds the small green lego block steadily between the two hands without any visible movement of the hand or the block. | Right hand: grasp: Right hand gradually closes its fingers and adjusts contact points around the small green lego block to establish a stable grasp on the block."}
+{"subtask_index": 118, "subtask": "Left hand: release: Left hand opens its fingers to release the small green lego block, fully separating from the block by the end of the segment. | Right hand: grasp: Right hand gradually closes its fingers and adjusts contact points around the small green lego block to establish a stable grasp on the block."}
+{"subtask_index": 119, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand holds the small green lego block and moves it downward toward the larger green lego block on the black work surface."}
+{"subtask_index": 120, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes small adjustments to its finger grip and the position of the small green lego block resting on the larger green lego block."}
+{"subtask_index": 121, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the small green lego block steadily on the larger green lego block with no observable movement of the hand, fingers or blocks."}
+{"subtask_index": 122, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: press: Right hand adjusts its finger position and presses down on the top surface of the small green lego block."}
+{"subtask_index": 123, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty toward the small blue lego block resting on the dark table surface."}
+{"subtask_index": 124, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions repeatedly to close around the small blue lego block and establish a stable grip."}
+{"subtask_index": 125, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped small blue lego block upward until it is completely separated from the table surface."}
+{"subtask_index": 126, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the grasped small blue lego block leftward and downward toward the green lego block on the table."}
+{"subtask_index": 127, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the position of the grasped small blue lego block to align it with the green lego block for assembly."}
+{"subtask_index": 128, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves toward the small orange lego block on the dark table surface with fingers slightly spread, approaching the target without making contact."}
+{"subtask_index": 129, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the small orange lego block, making slight adjustments to finger positions to form a stable grasp while the block remains resting on the table."}
+{"subtask_index": 130, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand moves the grasped small orange lego block vertically upward, lifting the block completely off the dark table surface."}
+{"subtask_index": 131, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport_place: Right hand moves the grasped small orange lego block leftward to a position above the stacked green and blue lego blocks, lowers the block to rest on the top surface of the blue lego block, supported by the underlying stacked blocks."}
+{"subtask_index": 132, "subtask": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts finger posture, curling the extended index finger inward to align with other curled fingers. | Right hand: transport_place: Right hand moves the grasped small orange lego block leftward to a position above the stacked green and blue lego blocks, lowers the block to rest on the top surface of the blue lego block, supported by the underlying stacked blocks."}
+{"subtask_index": 133, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: hold: Right hand holds the small orange lego block steady on top of the stacked green and blue lego blocks, with no observable movement of the hand or block."}
+{"subtask_index": 134, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: release: Right hand opens fingers to release the grasp on the small orange lego block, separating fingers from the block surface."}
+{"subtask_index": 135, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: idle: Right hand remains empty above the stacked lego blocks with fingers spread, no observable movement."}
+{"subtask_index": 136, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: press: Right hand presses a finger vertically downward against the top surface of the placed small orange lego block to apply pressure."}
+{"subtask_index": 137, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: retreat: Right hand lifts the finger off the top surface of the orange lego block, moving slightly upward away from the block."}
+{"subtask_index": 138, "subtask": "Left hand: return_home: Left hand moves upward back to the home position, with fingers gradually extending, remaining empty throughout the movement. | Right hand: release_return_home: Right hand opens fingers to release the top orange lego block, and moves upward back to the home position."}
+{"subtask_index": 139, "subtask": "Left hand: idle: Left hand remains empty at the home position with extended fingers without moving. | Right hand: idle: Right hand remains empty at the home position without moving."}
+{"subtask_index": 140, "subtask": "Left hand: other:adjust_hand_posture: Left hand adjusts its hand posture with fingers opening at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block located in the middle of the black table."}
+{"subtask_index": 141, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block located in the middle of the black table."}
+{"subtask_index": 142, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue block on the black table."}
+{"subtask_index": 143, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts finger positions to establish stable grasp on the small green block on the black table."}
+{"subtask_index": 144, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift: Right hand lifts the grasped small green block away from the black table surface."}
+{"subtask_index": 145, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}
+{"subtask_index": 146, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the green block on the black table, fingers open to separate from the block."}
+{"subtask_index": 147, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the orange block on the black tabletop."}
+{"subtask_index": 148, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach_grasp: Right hand reaches for and grasps the blue block on the black table, adjusting fingers to form a stable grip."}
+{"subtask_index": 149, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: push: Right hand pushes the blue block towards the green block on the black table."}
+{"subtask_index": 150, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reorient: Right hand flips the blue block to adjust its orientation on the dark table surface."}
+{"subtask_index": 151, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue block on the table to form a stable grip."}
+{"subtask_index": 152, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift_transport: Right hand lifts the blue block from the table and transports it above the green block."}
+{"subtask_index": 153, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: place: Right hand places the blue block onto the top of the green block."}
+{"subtask_index": 154, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the blue block."}
+{"subtask_index": 155, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: transport: Right hand holds the blue block and moves it rightwards in the air."}
+{"subtask_index": 156, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: place_release: Right hand places the blue block on the black table then releases it, fingers open to separate from the block."}
+{"subtask_index": 157, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}
+{"subtask_index": 158, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block on the black table."}
+{"subtask_index": 159, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the blue block placed on the table."}
+{"subtask_index": 160, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: transport: Right hand moves the grasped blue block towards the green block on the table."}
+{"subtask_index": 161, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the green-blue stacked block on the table, fingers open to separate from the block."}
+{"subtask_index": 162, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the orange block on the table, remaining empty during movement."}
+{"subtask_index": 163, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand grasps the orange block on the table, fingers close to contact the block."}
+{"subtask_index": 164, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the orange block on the table."}
+{"subtask_index": 165, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift_transport: Right hand lifts the orange block from the table and transports it towards the green and blue stacked block."}
+{"subtask_index": 166, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: mate: Right hand aligns and places the orange block onto the top of the green and blue stacked block to complete assembly."}
+{"subtask_index": 167, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the stacked colorful building blocks on the black table, with fingers gradually opening to detach from the blocks."}
+{"subtask_index": 168, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: retreat: Right hand retreats away from the stacked building blocks after releasing the grip."}
+{"subtask_index": 169, "subtask": "Left hand: return_home: Left hand retracts and stops at its initial position on the left side of the table. | Right hand: return_home: Right hand retracts and stops at its initial position on the right side of the table."}
+{"subtask_index": 170, "subtask": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger and wrist posture above the left side of the table, without contacting any objects. | Right hand: reach: Right hand moves downward toward the Lego bricks placed on the central table area, with fingers held in a slightly extended posture."}
+{"subtask_index": 171, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves downward toward the Lego bricks placed on the central table area, with fingers held in a slightly extended posture."}
+{"subtask_index": 172, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand makes minor continuous adjustments to its finger positions around the adjacent blue and small green Lego bricks to form a stable grip."}
+{"subtask_index": 173, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand stays in contact with the small green 2x2 plastic block on the dark flat surface, with no visible movement of the hand or the block."}
+{"subtask_index": 174, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: other:nudge_block: Right hand moves its fingers to nudge the small green 2x2 plastic block, causing the block to shift slightly across the dark flat surface."}
+{"subtask_index": 175, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand remains in contact with the small green 2x2 plastic block, with no visible movement of the hand or the block on the dark flat surface."}
+{"subtask_index": 176, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: other:nudge_block: Right hand moves its fingers to nudge the small green 2x2 plastic block, adjusting the block's position with small shifts across the dark flat surface."}
+{"subtask_index": 177, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls fingers to close around the small 2x2 light green lego block on the black work surface, making small adjustments to form a stable grip."}
+{"subtask_index": 178, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_transport: Right hand lifts the gripped small 2x2 light green lego block completely off the black work surface and moves it horizontally toward the nearby cluster of lego pieces."}
+{"subtask_index": 179, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: place: Right hand lowers the small 2x2 light green lego block and sets it onto the top surface of the longer light green lego block until the block is supported by the longer piece."}
+{"subtask_index": 180, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand holds the small 2x2 light green lego block on top of the longer light green lego block without any visible movement of the hand or the block."}
+{"subtask_index": 181, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: mate_release: Right hand makes small finger and wrist adjustments to align the small 2x2 light green lego block with the longer green lego block beneath it, releasing contact with the aligned block."}
+{"subtask_index": 182, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: retreat: Right hand moves empty upward and slightly left away from the stacked green lego blocks."}
+{"subtask_index": 183, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves empty downward toward the blue 2x2 lego block resting on the dark table surface, approaching the block without making contact."}
+{"subtask_index": 184, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls its fingers to adjust contact and establish a stable grasp on the blue 2x2 lego block resting on the dark table surface."}
+{"subtask_index": 185, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_transport: Right hand lifts the grasped blue 2x2 lego block completely off the dark table surface and moves it toward the area next to the green lego block."}
+{"subtask_index": 186, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: place: Right hand lowers the grasped blue 2x2 lego block down to the dark table surface adjacent to the green lego block, positioning it to rest stably on the surface."}
+{"subtask_index": 187, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand adjusts finger positions on the blue 2x2 lego block to establish a stable grip, with small finger movements to reposition contact points."}
+{"subtask_index": 188, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: push: Right hand pushes the blue 2x2 lego block to slide across the dark table surface toward the adjacent green lego block."}
+{"subtask_index": 189, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: press: Right hand presses down on the blue 2x2 lego block against the table surface to fine-tune its final position next to the green lego block."}
+{"subtask_index": 190, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves right toward the orange 2x2 lego block on the dark work surface, with fingers held slightly open during the movement."}
+{"subtask_index": 191, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand makes small continuous adjustments to finger positions and wrist orientation to establish and stabilize contact with the orange 2x2 lego block."}
+{"subtask_index": 192, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls fingers around the orange 2x2 lego block on the dark table surface, adjusting grip to form a stable hold on the block."}
+{"subtask_index": 193, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_place: Right hand lifts the orange 2x2 lego block off the dark table surface, shifts it a short distance left to rest on top of the stacked green and blue lego blocks."}
+{"subtask_index": 194, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: mate: Right hand adjusts the orange lego block on the stacked blocks with slight wiggling motions to align its connection points with the blocks below for assembly."}
+{"subtask_index": 195, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: release_retreat: Right hand opens fingers to release grasp on the orange lego block, moves a short distance upward away from the block."}
+{"subtask_index": 196, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach_press: Right hand moves down to the orange lego block, applies downward pressure on the block's top surface to secure it to the stacked blocks below."}
+{"subtask_index": 197, "subtask": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: retreat: Right hand lifts its finger off the orange lego block's top surface, moves upward away from the assembled lego stack."}
+{"subtask_index": 198, "subtask": "Left hand: return_home: Left hand stays empty, moves upward and backward toward its initial raised position on the left, with fingers adjusting to an extended open posture during the movement. | Right hand: return_home: Right hand stays empty, moves upward and backward toward its initial raised position on the right, with fingers adjusting to an extended open posture during the movement."}
+{"subtask_index": 199, "subtask": "Left hand: other:minor_finger_adjustment: Left hand makes minor positional adjustments to its fingers while remaining stationary in the upper left area, making no contact with any objects. | Right hand: reach: Right hand moves downward toward the small green lego block placed on the dark table surface, with fingers held in an open position."}
+{"subtask_index": 200, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach: Right hand moves downward toward the small green lego block placed on the dark table surface, with fingers held in an open position."}
+{"subtask_index": 201, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: grasp: Right hand makes fine finger adjustments to close around and form a grip on the small green lego block that remains resting on the table."}
+{"subtask_index": 202, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift: Right hand moves upward while securely holding the small green lego block, lifting the block fully off the table surface."}
+{"subtask_index": 203, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: transport_place: Right hand holds the small green 2x2 lego brick, moves it slightly down and right, and places it onto the larger green lego brick resting on the dark flat surface."}
+{"subtask_index": 204, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: hold: Right hand holds the small green 2x2 lego brick steadily on top of the larger green lego brick with no observable movement of the hand or the bricks."}
+{"subtask_index": 205, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: release: Right hand opens fingers to release the small green 2x2 lego brick, with the index finger lifting slightly away from the brick's top surface."}
+{"subtask_index": 206, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach: Right hand moves while empty toward the small blue 2x2 lego brick on the dark gray surface, without making contact with the brick."}
+{"subtask_index": 207, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the small blue 2x2 lego brick, forming a stable grasp while the brick remains resting on the dark surface."}
+{"subtask_index": 208, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift: Right hand lifts the grasped blue 2x2 lego brick upward, fully lifting the brick off the dark supporting surface."}
+{"subtask_index": 209, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: transport: Right hand carries the lifted blue lego brick leftward through the air, moving it to the position directly above the adjacent green lego brick."}
+{"subtask_index": 210, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: mate_release: Right hand aligns the held blue 2x2 lego brick with the green lego brick below, presses downward to fit the two bricks together into a connected assembly, opens fingers to release the assembled blue brick and separates from the brick surface."}
+{"subtask_index": 211, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach_grasp: Right hand moves toward the small orange 2x2 lego brick resting on the dark flat surface, closes fingers around the brick while making slight adjustments to finger positions and wrist posture to form a stable grasp, with the brick remaining on the dark support surface."}
+{"subtask_index": 212, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped small orange 2x2 lego brick completely off the dark support surface, moves it leftward toward the stacked blue and green lego bricks."}
+{"subtask_index": 213, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: place: Right hand lowers the small orange 2x2 lego brick onto the top surface of the stacked blue and green lego bricks until the brick is stably supported by the target structure."}
+{"subtask_index": 214, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: hold: Right hand holds the small orange 2x2 lego brick steadily on top of the stacked blue and green lego bricks, with no observable movement of the hand or the brick."}
+{"subtask_index": 215, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: release: Right hand releases the stacked lego blocks on the dark flat surface, with fingers adjusting position around the stack, the index finger applying light pressure to the top orange lego brick, and fingers opening to separate from the lego stack."}
+{"subtask_index": 216, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: return_home: Right hand moves upward and backward from the position above the lego stack back to its right-side home position, and stops steadily at the home position."}
+{"subtask_index": 217, "subtask": "Left hand: return_home: Left hand moves downward from the upper left position back to its left-side home position, with fingers slightly spreading, and stops steadily at the home position. | Right hand: return_home: Right hand moves upward and backward from the position above the lego stack back to its right-side home position, and stops steadily at the home position."}
+{"subtask_index": 218, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the small green block on the black table."}
+{"subtask_index": 219, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the small green block on the black table."}
+{"subtask_index": 220, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green block away from the black table surface."}
+{"subtask_index": 221, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand carries the small green block and moves toward the left side of the table."}
+{"subtask_index": 222, "subtask": "Left hand: reach: Left hand moves toward the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block steadily without obvious movement."}
+{"subtask_index": 223, "subtask": "Left hand: grasp: Left hand adjusts fingers and closes to grasp the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block steadily without obvious movement."}
+{"subtask_index": 224, "subtask": "Left hand: grasp: Left hand adjusts fingers and closes to grasp the small green block held by the right hand. | Right hand: release: Right hand releases the small green block, separating fingers from the block."}
+{"subtask_index": 225, "subtask": "Left hand: place: Left hand moves downward to place the small green block onto the table surface. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}
+{"subtask_index": 226, "subtask": "Left hand: release: Left hand opens fingers to release the small green block, separating from the block. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}
+{"subtask_index": 227, "subtask": "Left hand: retreat: Left hand moves upward away from the placed small green block. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}
+{"subtask_index": 228, "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 small green block on the black table surface."}
+{"subtask_index": 229, "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 around the small green block and makes slight adjustments to form a stable grasp."}
+{"subtask_index": 230, "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 block from the table and transports it above the long green block."}
+{"subtask_index": 231, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the position of the small green block to align it with the top surface of the long green block for assembly."}
+{"subtask_index": 232, "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 block onto the top of the long green block."}
+{"subtask_index": 233, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens its fingers to release the small green block."}
+{"subtask_index": 234, "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 block placed on the black table surface."}
+{"subtask_index": 235, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue block, with fingers adjusting to form a stable grip."}
+{"subtask_index": 236, "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 block upward, making it leave the table surface."}
+{"subtask_index": 237, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand moves the held blue block toward the green block on the table."}
+{"subtask_index": 238, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand assembles the blue block onto the top of the green block by pressing slightly."}
+{"subtask_index": 239, "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 block, with fingers separating from the block."}
+{"subtask_index": 240, "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 block on the black table surface."}
+{"subtask_index": 241, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand closes fingers around the orange block, adjusting grip to stabilize the block."}
+{"subtask_index": 242, "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 block upward, making it leave the table surface."}
+{"subtask_index": 243, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand carries the orange block leftward toward the green-blue block on the table."}
+{"subtask_index": 244, "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 block onto the top of the green-blue block."}
+{"subtask_index": 245, "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 block down to mate with the green-blue block below."}
+{"subtask_index": 246, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens fingers to release the orange block."}
+{"subtask_index": 247, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves away from the assembled blocks toward the right side."}
+{"subtask_index": 248, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving."}
+{"subtask_index": 249, "subtask": "Right hand: reach: Right hand moves downward toward the small green lego brick on the black table, with fingers extended and slightly open as it approaches the target."}
+{"subtask_index": 250, "subtask": "Right hand: grasp: Right hand makes contact with the small green lego brick, adjusting finger positions and wrist orientation around the brick to secure a grip while the brick stays on the table surface."}
+{"subtask_index": 251, "subtask": "Right hand: grasp: Right hand adjusts finger positions to close around the small green lego brick on the dark surface, forming a stable grip on the brick."}
+{"subtask_index": 252, "subtask": "Right hand: hold: Right hand holds the small green lego brick steadily on the dark surface without moving."}
+{"subtask_index": 253, "subtask": "Right hand: lift: Right hand lifts the small green lego brick upward, completely separating it from the dark supporting surface."}
+{"subtask_index": 254, "subtask": "Right hand: transport: Right hand carries the small green lego brick toward the larger green lego brick, rotating the brick slightly to adjust its orientation during movement."}
+{"subtask_index": 255, "subtask": "Right hand: place: Right hand lowers the small green lego brick onto the surface of the larger green lego brick until the small brick is stably supported."}
+{"subtask_index": 256, "subtask": "Right hand: release: Right hand opens its fingers to release the small green lego brick, separating the hand from the brick."}
+{"subtask_index": 257, "subtask": "Right hand: reach: Right hand moves toward the blue lego brick on the dark flat surface while empty, approaching the target object."}
+{"subtask_index": 258, "subtask": "Right hand: grasp: Right hand closes fingers around the blue lego brick, making small adjustments to finger positions to establish a stable grip, with the brick remaining on the dark surface."}
+{"subtask_index": 259, "subtask": "Right hand: lift: Right hand lifts the grasped blue lego brick upward, raising it completely off the dark supporting surface."}
+{"subtask_index": 260, "subtask": "Right hand: transport: Right hand carries the lifted blue lego brick horizontally leftward, moving it directly over the adjacent green lego brick."}
+{"subtask_index": 261, "subtask": "Right hand: mate: Right hand aligns the blue lego brick with the connection studs on the green lego brick, making slight positional adjustments and pressing down to fit the two bricks together securely."}
+{"subtask_index": 262, "subtask": "Right hand: release: Right hand opens its fingers to release the assembled blue lego brick, separating the hand from the brick."}
+{"subtask_index": 263, "subtask": "Right hand: reach: Right hand moves right toward the orange lego brick on the dark flat surface, with fingers held in a slightly extended position."}
+{"subtask_index": 264, "subtask": "Right hand: grasp: Right hand closes fingers around the orange lego brick, making small finger and wrist adjustments to form a stable grip while the brick stays on the dark surface."}
+{"subtask_index": 265, "subtask": "Right hand: lift_transport: Right hand lifts the orange lego brick fully off the dark surface, then moves the brick left toward the stacked green and blue lego bricks with slight wrist rotation."}
+{"subtask_index": 266, "subtask": "Right hand: place: Right hand lowers the orange lego brick onto the top of the stacked lego bricks, adjusting position slightly until the brick is fully supported by the stack."}
+{"subtask_index": 267, "subtask": "Right hand: release: Right hand opens its fingers to release the orange lego brick resting securely on the lego stack."}
+{"subtask_index": 268, "subtask": "Right hand: retreat: Right hand moves right away from the stacked lego bricks, remaining empty as it withdraws."}
+{"subtask_index": 269, "subtask": "Left hand: return_home: Left hand remains empty, moves upward back to its initial raised home position with slight finger adjustments during the movement. | Right hand: return_home: Right hand remains empty, moves upward back to its initial raised home position with slight finger adjustments during the movement."}
+{"subtask_index": 270, "subtask": "Left hand: other:extend_fingers: Left hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand. | Right hand: other:extend_fingers: Right hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand."}
+{"subtask_index": 271, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: other:extend_fingers: Right hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand."}
+{"subtask_index": 272, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand moves downward toward the lego blocks placed on the black table surface, with fingers kept open."}
+{"subtask_index": 273, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green 2x2 lego block on the table to establish a stable grasp."}
+{"subtask_index": 274, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions, contact points and wrist orientation to close around the small 2x2 light green lego brick on the dark surface, shifting the brick slightly to form a stable grip."}
+{"subtask_index": 275, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the small 2x2 light green lego brick steadily on the dark surface with no visible movement of the hand, fingers or the brick."}
+{"subtask_index": 276, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: release: Right hand opens its fingers to release the light green lego brick on the dark flat surface."}
+{"subtask_index": 277, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand moves empty through the air toward the small blue lego brick, approaching the brick without forming a grip."}
+{"subtask_index": 278, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand closes its fingers around the small blue lego brick, making small finger adjustments to establish contact with the brick."}
+{"subtask_index": 279, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand makes slight finger adjustments to establish a stable grip on the blue lego brick resting on the dark table surface."}
+{"subtask_index": 280, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: lift_transport: Right hand lifts the blue lego brick slightly off the dark surface and moves it to position directly above the stacked green lego bricks."}
+{"subtask_index": 281, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: place: Right hand lowers the blue lego brick onto the top surface of the green lego stack until the blue brick is fully supported by the green bricks."}
+{"subtask_index": 282, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the blue lego brick steadily on top of the green lego stack without any observable movement of the hand or the brick."}
+{"subtask_index": 283, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions and wrist orientation to establish a grasp on the stacked light green and blue lego bricks, slightly rotating the bricks to align them on the dark flat supporting surface."}
+{"subtask_index": 284, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: release_retreat: Right hand opens fingers to release contact with the stacked light green and blue lego bricks, moving slightly away from the bricks to exit the immediate contact area."}
+{"subtask_index": 285, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand gradually closes fingers to grasp the 2x2 orange lego brick placed on the black surface."}
+{"subtask_index": 286, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: lift: Right hand moves upward to lift the grasped 2x2 orange lego brick, fully separating it from the black supporting surface."}
+{"subtask_index": 287, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: transport_place: Right hand carries the grasped 2x2 orange lego brick to the position above the stacked blue and green lego bricks, moving downward to set the orange brick onto the top surface of the stacked bricks."}
+{"subtask_index": 288, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a grip on the orange lego brick resting on the stacked green and blue lego bricks."}
+{"subtask_index": 289, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the orange lego brick steadily, the brick stays on the supporting stacked lego bricks with no visible movement of the hand or brick."}
+{"subtask_index": 290, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand extends the index finger and moves toward the top surface of the stacked orange lego brick, with no contact established with the brick during the movement."}
+{"subtask_index": 291, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: press: Right hand places the index finger on the top surface of the orange lego brick and presses downward vertically to apply pressure to the brick."}
+{"subtask_index": 292, "subtask": "Left hand: other:adjust_hand_posture: Left hand stays in the upper left area, rotates the wrist slightly and closes the fingers to adjust to the resting posture while remaining empty. | Right hand: return_home: Right hand moves upward away from the stacked lego blocks with empty hand, returning to its initial upper resting position."}
+{"subtask_index": 293, "subtask": "Left hand: other:move_slightly_upward: Left hand moves slightly upward while remaining empty. | Right hand: reach: Right hand moves downward toward the orange block on the black table, remaining empty during movement."}
+{"subtask_index": 294, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the orange block on the black table, remaining empty during movement."}
+{"subtask_index": 295, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the small green building block on the black mat to establish a stable grip."}
+{"subtask_index": 296, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the small green building block off the black mat and moves it rightward above the longer green building block."}
+{"subtask_index": 297, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the small green building block onto the top surface of the longer green building block on the black mat."}
+{"subtask_index": 298, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}
+{"subtask_index": 299, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the stacked green building blocks on the black tabletop."}
+{"subtask_index": 300, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: other:adjust_stacked_blocks_position_alignment: Right hand moves and rotates the stacked green building blocks on the black tabletop to adjust their position and alignment."}
+{"subtask_index": 301, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand releases the stacked green building blocks, with fingers separating from the blocks."}
+{"subtask_index": 302, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the stacked green building blocks on the black table."}
+{"subtask_index": 303, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to establish stable grasp on the stacked green building blocks."}
+{"subtask_index": 304, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the stacked green building blocks and moves them towards the orange building block."}
+{"subtask_index": 305, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the stacked green building blocks onto the target position on the table surface."}
+{"subtask_index": 306, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the stacked green building blocks."}
+{"subtask_index": 307, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue building block on the gray table surface."}
+{"subtask_index": 308, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: transport: Right hand moves the grasped blue building block leftward toward the green building blocks."}
+{"subtask_index": 309, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the blue building block with the top of the green building blocks."}
+{"subtask_index": 310, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: press: Right hand presses the blue building block down onto the green building blocks to secure the connection."}
+{"subtask_index": 311, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the orange building block on the table."}
+{"subtask_index": 312, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the orange building block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 313, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the orange building block off the table and moves it leftward toward the stacked blue and green building blocks."}
+{"subtask_index": 314, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the orange building block onto the top of the blue building block, adjusting its position to align properly."}
+{"subtask_index": 315, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand releases the orange building block, with fingers opening to separate from the block."}
+{"subtask_index": 316, "subtask": "Left hand: return_home: Left hand moves back to its initial home position on the left side and stops. | Right hand: return_home: Right hand moves back to its initial home position on the right side and stops."}
+{"subtask_index": 317, "subtask": "Left hand: other:adjust_raised_posture: Left hand moves slightly to the raised position at the left side of the dark table, with fingers extending and spreading open. | Right hand: other:adjust_raised_posture: Right hand moves slightly to the raised position at the right side of the dark table, with wrist rotating slightly and fingers extending open."}
+{"subtask_index": 318, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: idle: Right hand remains empty and stationary at the raised position on the right side of the dark table, with fingers slightly spread."}
+{"subtask_index": 319, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand moves downward toward the green lego block placed on the dark table surface, with fingers held slightly open."}
+{"subtask_index": 320, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand contacts the green lego block on the dark table, fingers closing and making small adjustments to establish a grip on the block."}
+{"subtask_index": 321, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger and wrist positions to form a stable grasp around the small light green block resting on the black work surface."}
+{"subtask_index": 322, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift_transport: Right hand lifts the small light green block off the black surface and moves it to a position directly above the larger long green block."}
+{"subtask_index": 323, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: place: Right hand lowers the small light green block until it rests steadily on the upper surface of the larger long green block."}
+{"subtask_index": 324, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press: Right hand applies downward pressure on the small light green block with small finger adjustments to secure it to the larger long green block."}
+{"subtask_index": 325, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: release: Right hand releases contact with the green lego block, fingers opening and moving away from the green block surface."}
+{"subtask_index": 326, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift_transport: Right hand lifts the held blue lego block upward off the dark surface behind the green block, moving the block through air to the position above the target placement spot."}
+{"subtask_index": 327, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: place: Right hand lowers the blue lego block vertically down to the dark surface at the upper right of the green block, until the block rests stably on the surface and is fully supported."}
+{"subtask_index": 328, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand makes small, continuous adjustments to finger positions on the blue lego block, repositioning contact points to form a stable grasp on the block."}
+{"subtask_index": 329, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger positions to grasp the blue Lego block, moving the block horizontally to position it above the adjacent green Lego block on the dark gray work surface."}
+{"subtask_index": 330, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press_release: Right hand presses the blue Lego block downward against the green Lego block with minor wrist and finger alignment adjustments, opens fingers to release the block and lifts slightly upward away from the block."}
+{"subtask_index": 331, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: release: Right hand opens its fingers to release the stacked blue and green building blocks resting on the dark gray surface."}
+{"subtask_index": 332, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand moves empty across the dark gray surface toward the small orange building block, approaching the target block."}
+{"subtask_index": 333, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand closes its fingers around the small orange building block, making small contact adjustments to establish a grasp on the block."}
+{"subtask_index": 334, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the orange building block resting on the dark flat surface."}
+{"subtask_index": 335, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift: Right hand lifts the grasped orange building block upward until it is fully separated from the dark supporting surface."}
+{"subtask_index": 336, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: transport_place: Right hand moves the grasped orange building block to position above the green building block and lowers it to rest on the green building block."}
+{"subtask_index": 337, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: mate: Right hand adjusts the position of the orange building block to align its connecting points with the studs on the green building block."}
+{"subtask_index": 338, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: hold: Right hand holds the aligned orange building block on top of the green building block without observable movement."}
+{"subtask_index": 339, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand extends its index finger and moves it downward toward the top surface of the orange block, with no contact established."}
+{"subtask_index": 340, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press: Right hand presses its extended index finger against the top surface of the orange block, applying downward vertical pressure."}
+{"subtask_index": 341, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: return_home: Right hand lifts its index finger away from the orange block, moves backward to the right-side home position, adjusts its fingers to the upright thumb-up pose and stops."}
+{"subtask_index": 342, "subtask": "Left hand: other:adjust_hand_to_thumb_up_pose: Left hand rotates its wrist approximately 90 degrees upward and adjusts finger positions to form the upright thumb-up pose, with no obvious overall position shift. | Right hand: return_home: Right hand lifts its index finger away from the orange block, moves backward to the right-side home position, adjusts its fingers to the upright thumb-up pose and stops."}
+{"subtask_index": 343, "subtask": "Left hand: other:extend_index_middle_fingers_upward: Left hand moves slightly upward while extending and spreading its index and middle fingers. | Right hand: other:extend_index_middle_fingers_upward: Right hand moves slightly upward while extending and spreading its index and middle fingers."}
+{"subtask_index": 344, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: other:extend_index_middle_fingers_upward: Right hand moves slightly upward while extending and spreading its index and middle fingers."}
+{"subtask_index": 345, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves downward and leftward toward the small green block on the table, with fingers held open."}
+{"subtask_index": 346, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green block, closing fingers to form a grasp on the block."}
+{"subtask_index": 347, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table surface, moving the block slightly upward and leftward while holding it."}
+{"subtask_index": 348, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: place_release: Right hand lowers the small green block back onto the table surface, opening fingers to release the block."}
+{"subtask_index": 349, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves leftward back toward the small green block on the table while empty."}
+{"subtask_index": 350, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts fingers around the small green block again, attempting to establish a stable grasp."}
+{"subtask_index": 351, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release_retreat: Right hand opens fingers to release the small green block, moving upward and rightward away from the block while empty."}
+{"subtask_index": 352, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves leftward toward the small green block again while empty, until fingers contact the block."}
+{"subtask_index": 353, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green block, closing fingers to form a stable grasp."}
+{"subtask_index": 354, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}
+{"subtask_index": 355, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes fingers around the small green 1x1 lego block on the dark flat surface, making slight finger adjustments to form a stable grip on the block."}
+{"subtask_index": 356, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand moves the grasped small green lego block to align it with the larger green lego block below, adjusting position to fit the small block onto the upper surface of the larger block."}
+{"subtask_index": 357, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand opens its fingers to release the small green lego block resting on the larger lego block, separating the fingers from the block surface."}
+{"subtask_index": 358, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves away from the stacked green blocks toward the blue 2x2 lego block, with fingers held slightly open during the movement."}
+{"subtask_index": 359, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand positions fingers around the blue 2x2 lego block, closes and adjusts fingers to establish a stable grasp while the block remains on the supporting surface."}
+{"subtask_index": 360, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes its fingers to establish a firm grip on the blue 2x2 lego block resting on the dark flat work surface."}
+{"subtask_index": 361, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift_transport: Right hand lifts the blue 2x2 lego block completely off the dark surface and moves it to a position directly above the adjacent green lego block."}
+{"subtask_index": 362, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reorient: Right hand rotates the gripped blue lego block slightly to adjust its orientation while positioned above the green lego block."}
+{"subtask_index": 363, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand lowers the blue lego block to align and press it into contact with the top surface of the green lego block."}
+{"subtask_index": 364, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: hold: Right hand holds the mated blue lego block on top of the green lego block without any visible movement of the hand or block."}
+{"subtask_index": 365, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand opens its fingers to release the grip on the blue lego block, separating the hand from the block."}
+{"subtask_index": 366, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves empty away from the stacked blue and green block toward the small orange 1x1 block resting on the dark flat surface."}
+{"subtask_index": 367, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes fingers around the small orange 1x1 block, making small adjustments to establish a stable grip while the block remains on the dark flat surface."}
+{"subtask_index": 368, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift: Right hand lifts the grasped small orange 1x1 block upward until it is fully raised off the dark flat surface."}
+{"subtask_index": 369, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: transport: Right hand moves the held small orange 1x1 block leftward across the space to position it above the stacked blue and green block."}
+{"subtask_index": 370, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand aligns the held small orange 1x1 block directly above the stacked blue and green block to position it for attachment."}
+{"subtask_index": 371, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand adjusts the small orange lego block with fine finger movements, making slight positional and rotational adjustments to align its connecting studs with the green lego block underneath."}
+{"subtask_index": 372, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: hold: Right hand holds the aligned small orange lego block steady on the green lego block without any movement of the hand or block."}
+{"subtask_index": 373, "subtask": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand lifts its fingers upward off the small orange lego block, releasing contact with the block."}
+{"subtask_index": 374, "subtask": "Left hand: return_home: Left hand moves empty backward from its extended left forward position to return to the front home position, with fingers gradually closing into a relaxed posture. | Right hand: release: Right hand opens its fingers to release the orange lego block resting on the stacked green lego block on the black table surface."}
+{"subtask_index": 375, "subtask": "Left hand: return_home: Left hand moves empty backward from its extended left forward position to return to the front home position, with fingers gradually closing into a relaxed posture. | Right hand: return_home: Right hand moves empty upward and backward to return to the front home position, with fingers gradually closing into a relaxed posture."}
+{"subtask_index": 376, "subtask": "Left hand: other:adjust_hand_pose: Left hand adjusts finger posture and wrist orientation at the left upper area of the black table. | Right hand: reach: Right hand moves toward the small green block on the black table until fingers touch the block."}
+{"subtask_index": 377, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the small green block on the black table until fingers touch the block."}
+{"subtask_index": 378, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reorient: Right hand rotates the small green block slightly on the black surface to adjust its orientation."}
+{"subtask_index": 379, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the small green block and moves upward away from the block."}
+{"subtask_index": 380, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves towards the small green block placed on the black surface."}
+{"subtask_index": 381, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the small green block."}
+{"subtask_index": 382, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the small green block off the black surface and moves it right towards the larger green block."}
+{"subtask_index": 383, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small green block."}
+{"subtask_index": 384, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the small green block off the supporting surface and transports it above the larger light green block."}
+{"subtask_index": 385, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand lowers the small green block onto the top surface of the larger light green block."}
+{"subtask_index": 386, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the small green block down to secure it attached to the larger light green block."}
+{"subtask_index": 387, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts its grip on the green block placed on the dark table surface."}
+{"subtask_index": 388, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: hold: Right hand holds the green block on the table without moving."}
+{"subtask_index": 389, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}
+{"subtask_index": 390, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the blue block on the table."}
+{"subtask_index": 391, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand closes its fingers to grasp the blue block on the dark surface."}
+{"subtask_index": 392, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift: Right hand lifts the blue block upward away from the dark surface."}
+{"subtask_index": 393, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: transport: Right hand transports the blue block horizontally to the position above the small green block."}
+{"subtask_index": 394, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand lowers the blue block onto the top surface of the small green block."}
+{"subtask_index": 395, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the blue block downward to attach it firmly to the green block."}
+{"subtask_index": 396, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release_retreat: Right hand releases the blue block and retreats slightly away from the assembled blocks."}
+{"subtask_index": 397, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the orange block placed on the dark table surface."}
+{"subtask_index": 398, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts fingers to close and form a stable grip on the orange block."}
+{"subtask_index": 399, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the orange block off the table and moves it toward the green block."}
+{"subtask_index": 400, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: transport: Right hand transports the orange block towards the top of the blue block."}
+{"subtask_index": 401, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand places the orange block onto the top surface of the blue block."}
+{"subtask_index": 402, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand repeatedly presses the orange block down against the blue block."}
+{"subtask_index": 403, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the orange block and separates from the block."}
+{"subtask_index": 404, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: retreat: Right hand retreats away from the stacked blocks."}
+{"subtask_index": 405, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the blue building block on top of the stacked blocks on the table."}
+{"subtask_index": 406, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: retreat: Right hand moves backward away from the stacked building blocks toward its initial position."}
+{"subtask_index": 407, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table."}
+{"subtask_index": 408, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: idle: Right hand remains empty at the upper right initial position without obvious displacement."}
+{"subtask_index": 409, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: reach: Right hand moves downward toward the small green 2x2 block on the table, with fingers slightly extended, approaching the block without stable contact."}
+{"subtask_index": 410, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the small green 2x2 block to form a stable grip, with the block still resting on the table surface."}
+{"subtask_index": 411, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: lift: Right hand holds the grasped small green 2x2 block and moves upward, lifting the block completely off the table surface."}
+{"subtask_index": 412, "subtask": "Left hand: reach: Left hand moves downward and rightward with slightly open fingers to approach the small green block held by the right hand. | Right hand: lift_transport: Right hand lifts the small green block off the dark supporting surface and moves it leftward toward the approaching left hand."}
+{"subtask_index": 413, "subtask": "Left hand: reach: Left hand moves downward and rightward with slightly open fingers to approach the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}
+{"subtask_index": 414, "subtask": "Left hand: grasp: Left hand contacts the small green block and adjusts its fingers to close around the block to establish a grasp. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}
+{"subtask_index": 415, "subtask": "Left hand: transport: Left hand grips the small green block and moves it downward toward the long green block placed on the dark table surface. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}
+{"subtask_index": 416, "subtask": "Left hand: place_release: Left hand lowers the small green block onto the dark table surface next to the long green block, releases its grip as the block rests stably on the surface. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}
+{"subtask_index": 417, "subtask": "Left hand: retreat: Empty left hand moves upward, retreating from the position of the placed small green block. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}
+{"subtask_index": 418, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves downward toward the small loose green block on the dark surface, with fingers slightly spread, without contacting the block."}
+{"subtask_index": 419, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small loose green block on the dark surface, adjusting finger contact positions to establish a stable grasp, while the block remains resting on the supporting surface."}
+{"subtask_index": 420, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand moves upward while holding the small green block, lifting the block completely off the dark supporting surface."}
+{"subtask_index": 421, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand moves upward and slightly toward the center of the workspace while holding the lifted small green block, transporting the block through the air above the surface."}
+{"subtask_index": 422, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the held small green block, separating from the block which falls onto the dark supporting surface."}
+{"subtask_index": 423, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves downward toward the small green block resting on the lower right table surface, with fingers held slightly open."}
+{"subtask_index": 424, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small green block on the lower right table, making small adjustments to finger positions to establish a firm grip while the block stays in contact with the table."}
+{"subtask_index": 425, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped small green block off the table surface and moves it leftward to a position directly above the long green block at the center of the table."}
+{"subtask_index": 426, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place: Right hand lowers the small green block until it rests on the top surface of the long green block, supported by the block below."}
+{"subtask_index": 427, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand makes small positional adjustments to the small green block to align its connecting features with the long green block for assembly."}
+{"subtask_index": 428, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press: Right hand presses vertically downward on the top surface of the small green block to secure it to the long green block below."}
+{"subtask_index": 429, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves empty toward the small blue lego block resting on the dark gray surface, approaching the target to prepare for grasping."}
+{"subtask_index": 430, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small blue lego block, making slight adjustments to finger contact points to form a stable grasp while the block remains on the supporting surface."}
+{"subtask_index": 431, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped small blue lego block upward, fully detaching it from the dark gray supporting surface."}
+{"subtask_index": 432, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reorient: Right hand rotates the wrist to flip the grasped blue lego block approximately 180 degrees, turning the studded face upward with minimal change to the block's horizontal position."}
+{"subtask_index": 433, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place: Right hand moves downward to place the flipped blue lego block back onto the dark gray surface, with the block fully supported by the surface at the end of the segment while the hand still holds it."}
+{"subtask_index": 434, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand makes slight adjustments to finger positions and pressure on the blue lego block to re-stabilize the grasp, with visible small movements of the fingers and wrist."}
+{"subtask_index": 435, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped blue lego block upward again, fully lifting it off the dark gray surface to prepare for relocation."}
+{"subtask_index": 436, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the grasped blue lego block through the air, moving downward toward the upright green lego block positioned below the blue block."}
+{"subtask_index": 437, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand aligns the bottom of the blue lego block with the top studs of the green lego block, positioning the two blocks to engage in assembly."}
+{"subtask_index": 438, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press_release: Right hand applies downward pressure on the blue lego block to press it firmly onto the green lego block to complete assembly, opens fingers to release the block and separate from it."}
+{"subtask_index": 439, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves toward the small orange lego block resting on the dark work surface."}
+{"subtask_index": 440, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small orange lego block, making small adjustments to form a stable grip on the block."}
+{"subtask_index": 441, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped small orange lego block completely off the dark work surface."}
+{"subtask_index": 442, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted orange lego block a short distance toward the stacked two-block lego tower."}
+{"subtask_index": 443, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place_release: Right hand lowers the orange lego block onto the dark work surface, opening fingers to release grip on the block."}
+{"subtask_index": 444, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand adjusts its position and moves fingers toward the resting orange lego block to re-establish a grip."}
+{"subtask_index": 445, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the orange lego block, making small adjustments to secure a stable grip."}
+{"subtask_index": 446, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the re-grasped orange lego block fully off the dark work surface."}
+{"subtask_index": 447, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted orange lego block directly over the top surface of the blue lego block on the stack."}
+{"subtask_index": 448, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand aligns the orange lego block with the connecting studs on the top of the blue lego block, positioning it to fit onto the stack."}
+{"subtask_index": 449, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press: Right hand applies downward vertical pressure on the top surface of the orange lego block to secure it to the lego stack below."}
+{"subtask_index": 450, "subtask": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects."}
+{"subtask_index": 451, "subtask": "Left hand: other:adjust_fingers_to_extended_pose: Left hand moves slightly upward at the left side of the table while adjusting its fingers to a fully extended open pose, without holding any object. | Right hand: other:adjust_fingers_to_pre_reach_pose: Right hand moves slightly upward at the right side of the table while adjusting its fingers to a slightly flexed pre-reach pose, without holding any object."}
+{"subtask_index": 452, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: other:adjust_fingers_to_pre_reach_pose: Right hand moves slightly upward at the right side of the table while adjusting its fingers to a slightly flexed pre-reach pose, without holding any object."}
+{"subtask_index": 453, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green block placed on the central table surface, remaining empty and not yet in contact with the block."}
+{"subtask_index": 454, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the small 2x2 green block, adjusting finger contact positions to form a stable grasp while the block remains resting on the table surface."}
+{"subtask_index": 455, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped small 2x2 green block vertically upward, separating the block completely from the table surface."}
+{"subtask_index": 456, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the grasped small 2x2 green block downward to position it directly above the larger 2x4 green block on the table."}
+{"subtask_index": 457, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the small 2x2 green block with the connection studs on the larger 2x4 green block, adjusting position and applying downward pressure to fit the two blocks together."}
+{"subtask_index": 458, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand gradually opens its fingers to release the assembled small green block, with fingers remaining in partial contact with the block at the end of the interval."}
+{"subtask_index": 459, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: push: Right hand contacts the green block on the dark table surface, pushing the block away to make it slide across the table."}
+{"subtask_index": 460, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty toward the small blue block on the table, approaching the target without making contact."}
+{"subtask_index": 461, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the small blue block, adjusting finger positions to form a stable grip on the block resting on the table."}
+{"subtask_index": 462, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped blue block upward until the block is completely lifted off the table surface."}
+{"subtask_index": 463, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted blue block through the air to a position above the table next to the displaced green block."}
+{"subtask_index": 464, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the blue block down to the table surface until the block is fully supported by the table."}
+{"subtask_index": 465, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions on the placed blue block slightly to stabilize the grip for subsequent movement."}
+{"subtask_index": 466, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the grasped blue block across the table to position it adjacent to the green block."}
+{"subtask_index": 467, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the blue block with the green block, pressing the blocks together to fit them into an assembled state."}
+{"subtask_index": 468, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens fingers to release the assembled blue block, breaking contact between the hand and the block."}
+{"subtask_index": 469, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty away from the assembled blocks toward the right side of the workspace."}
+{"subtask_index": 470, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small orange lego block on the dark table surface, with fingers held slightly open."}
+{"subtask_index": 471, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the orange lego block to form a stable grip, while the block remains resting on the table."}
+{"subtask_index": 472, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped orange lego block upward until it is fully separated from the table surface."}
+{"subtask_index": 473, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted orange lego block leftward to position it directly above the stacked green and blue lego blocks."}
+{"subtask_index": 474, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand adjusts the orientation of the orange lego block, aligning its connecting studs with the top of the stacked blocks to attempt assembly."}
+{"subtask_index": 475, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the orange lego block, which drops onto the table adjacent to the stacked blocks."}
+{"subtask_index": 476, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand repositions its fingers around the orange lego block on the table, making slight adjustments to establish a new stable grip."}
+{"subtask_index": 477, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the re-grasped orange lego block upward until it is fully lifted off the table surface."}
+{"subtask_index": 478, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the orange lego block rightward across the table to the area above its original resting position."}
+{"subtask_index": 479, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the orange lego block downward until the block rests steadily on the dark table surface."}
+{"subtask_index": 480, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to fully release contact with the orange lego block supported by the table."}
+{"subtask_index": 481, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small orange block on the dark table surface, remaining empty with no contact to the block."}
+{"subtask_index": 482, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the orange block, adjusting finger positions repeatedly while slightly rotating and shifting the block on the table surface to form a stable grip."}
+{"subtask_index": 483, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand holds the orange block and lifts it upward until the block is fully separated from the table surface."}
+{"subtask_index": 484, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted orange block, moving it horizontally left toward the stacked blue and green blocks."}
+{"subtask_index": 485, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the orange block to rest stably on the table surface, fingers opening to release contact with the settled block."}
+{"subtask_index": 486, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach_grasp: Right hand moves slightly to re-contact the orange block on the table, adjusting finger positions while slightly shifting the block to re-establish a stable grip."}
+{"subtask_index": 487, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the orange block on the table surface without observable movement of the hand or block."}
+{"subtask_index": 488, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts and closes fingers around the orange block resting on the dark table to form a stable grasp."}
+{"subtask_index": 489, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange block completely off the table surface and moves it over the adjacent stacked green and blue block."}
+{"subtask_index": 490, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand lowers the orange block to align with the connection points on top of the green and blue block, pressing slightly to fit the two blocks together."}
+{"subtask_index": 491, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the fully assembled stack of blocks on the table surface without any observable movement of the hand or blocks."}
+{"subtask_index": 492, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release contact with the top orange block, separating the hand from the assembled block stack."}
+{"subtask_index": 493, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the stacked colorful blocks resting on the dark table, losing contact with the blocks."}
+{"subtask_index": 494, "subtask": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves upward and rightward with empty hand, retreating away from the stacked blocks on the table."}
+{"subtask_index": 495, "subtask": "Left hand: retreat: Left hand moves upward and backward with empty hand, retreating from the previous outstretched left position. | Right hand: retreat: Right hand moves upward and rightward with empty hand, retreating away from the stacked blocks on the table."}
+{"subtask_index": 496, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward from the right side of the table toward the small green block without contacting any object."}
+{"subtask_index": 497, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the small green block on the black tabletop to establish stable grasp."}
+{"subtask_index": 498, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}
+{"subtask_index": 499, "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 off the black table surface."}
+{"subtask_index": 500, "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 rightward above the longer green block."}
+{"subtask_index": 501, "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 onto the longer green block."}
+{"subtask_index": 502, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the blue block on the black table surface."}
+{"subtask_index": 503, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 504, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the dark gray surface."}
+{"subtask_index": 505, "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 from the dark gray surface and transports it above the small green block."}
+{"subtask_index": 506, "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 onto the top of the small green block."}
+{"subtask_index": 507, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the small green block to secure the assembly."}
+{"subtask_index": 508, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the blue block and separates from it."}
+{"subtask_index": 509, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the orange block on the black table surface without touching the block."}
+{"subtask_index": 510, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the orange block and adjusts fingers to form a stable grip on the black table surface."}
+{"subtask_index": 511, "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 orange block from the table surface and transports it to above the blue block."}
+{"subtask_index": 512, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the top of the blue block."}
+{"subtask_index": 513, "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 to attach it firmly to the blue block."}
+{"subtask_index": 514, "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 and moves fingers away from the block."}
+{"subtask_index": 515, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: idle: Right hand remains empty and stationary at the right upper side of the workspace, not yet moving toward the small green 2x2 lego brick."}
+{"subtask_index": 516, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves downward with slightly open fingers, approaching the small green 2x2 lego brick placed on the black table surface, without making contact with the brick."}
+{"subtask_index": 517, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand positions fingers around the small green 2x2 lego brick, adjusting finger placement to initiate contact and prepare for grasping the brick, which remains on the table surface."}
+{"subtask_index": 518, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand moves its fingers around the small green lego brick on the dark surface, closing and adjusting finger positions to form a stable grip on the brick."}
+{"subtask_index": 519, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand moves upward to lift the securely grasped small green lego brick completely off the dark supporting surface."}
+{"subtask_index": 520, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand carries the lifted small green lego brick horizontally toward the larger green lego brick resting on the dark surface."}
+{"subtask_index": 521, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: place: Right hand lowers the small green lego brick downward until it rests on the top surface of the larger green lego brick."}
+{"subtask_index": 522, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate: Right hand adjusts the position and orientation of the small green lego brick to align it with the larger green lego brick, applying light downward pressure to seat the bricks together."}
+{"subtask_index": 523, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: release: Right hand opens its fingers to release its grip on the aligned small green lego brick."}
+{"subtask_index": 524, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves from the position near the green lego base toward the adjacent small blue 2x2 lego block, with fingers slightly open and not yet in contact with the blue block."}
+{"subtask_index": 525, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand contacts the small blue 2x2 lego block, gradually closing fingers and adjusting contact positions to establish a stable grasp while the block remains on the dark supporting surface."}
+{"subtask_index": 526, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table."}
+{"subtask_index": 527, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes fingers around the small blue lego brick on the dark table surface to form a stable grasp."}
+{"subtask_index": 528, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand raises the grasped small blue lego brick upward until the brick is fully separated from the table surface."}
+{"subtask_index": 529, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand carries the grasped small blue lego brick horizontally to position it directly above the small green lego brick."}
+{"subtask_index": 530, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate_release: Right hand aligns the small blue lego brick with connection points on the green lego brick, presses down to attach the two bricks together, opening fingers to release the blue brick."}
+{"subtask_index": 531, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: idle: Right hand remains empty adjacent to the stacked lego bricks without any observable movement."}
+{"subtask_index": 532, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves empty from the area near the stacked blue and green bricks toward the small orange 2x2 brick on the dark flat surface, with fingers extended to approach the target."}
+{"subtask_index": 533, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes fingers around the small orange 2x2 brick, adjusting finger contact to form a stable grip while the brick remains resting on the dark surface."}
+{"subtask_index": 534, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: hold: Right hand holds the small orange 2x2 brick steadily on the dark flat surface, with no observable movement of the hand, fingers or the gripped brick."}
+{"subtask_index": 535, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand moves upward while gripping the small orange 2x2 brick, lifting the brick partially away from the dark supporting surface."}
+{"subtask_index": 536, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand holds the small orange lego brick and moves it leftward above the dark table surface toward the stacked blue and green lego bricks."}
+{"subtask_index": 537, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: release: Right hand opens its fingers to release the small orange lego brick, which falls and rests on the dark table surface."}
+{"subtask_index": 538, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves downward with open fingers, approaching the small orange lego brick resting on the table."}
+{"subtask_index": 539, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes its fingers around the small orange lego brick on the table, adjusting finger contact positions to establish a stable grip."}
+{"subtask_index": 540, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes its fingers around the small orange lego brick on the dark table surface to adjust and establish a stable re-grasp."}
+{"subtask_index": 541, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift_transport: Right hand lifts the grasped small orange lego brick off the dark table surface and moves it downward to position it over the stacked green and blue lego bricks."}
+{"subtask_index": 542, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate: Right hand adjusts the position of the small orange lego brick to align it with the studs on the stacked green and blue lego bricks, pressing it slightly to fit the two pieces together."}
+{"subtask_index": 543, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach_grasp: Right hand moves toward the orange lego brick, adjusts finger positions to establish stable contact with the lego stack and aligns the index finger over the top of the orange lego brick."}
+{"subtask_index": 544, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: press: Right hand presses vertically down on the top surface of the orange lego brick resting on the underlying lego stack."}
+{"subtask_index": 545, "subtask": "Left hand: return_home: Left hand rotates its wrist to face the palm forward, extends fingers from a slightly curled posture to a straight upward-pointing posture, and moves slightly upward to return to its initial raised home position. | Right hand: return_home: Right hand rotates its wrist to face the palm forward, extends fingers from a curled grasping posture to a straight upward-pointing posture, and moves upward away from the stacked blocks on the table to return to its initial raised home position."}
+{"subtask_index": 546, "subtask": "Left hand: reach: Left hand moves upward and rotates slightly to face the building blocks on the table, keeping fingers slightly open and empty. | Right hand: reach: Right hand moves upward and rotates slightly to face the building blocks on the table, keeping fingers slightly open and empty."}
+{"subtask_index": 547, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves downward and leftward toward the small green square block on the black surface, with fingers slightly open."}
+{"subtask_index": 548, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green square block, with fingers closing around the block."}
+{"subtask_index": 549, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the small green block on the table surface."}
+{"subtask_index": 550, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reorient: Right hand rotates the small green block about a quarter turn on the table surface, with the block staying in contact with the table."}
+{"subtask_index": 551, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the small green block on the table surface without moving."}
+{"subtask_index": 552, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand reaches toward the small green block on the black table surface."}
+{"subtask_index": 553, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green block on the black table surface with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 554, "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 block off the table and moves it rightward and downward toward the larger green block."}
+{"subtask_index": 555, "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 block onto the larger green block on the black table surface."}
+{"subtask_index": 556, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its grip on the green block on the dark surface, with slight finger position adjustments."}
+{"subtask_index": 557, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reorient: Right hand slightly rotates and adjusts the pose of the green block on the dark surface, with the block staying on the surface."}
+{"subtask_index": 558, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: press: Right hand presses down on the green block on the dark surface to apply vertical pressure."}
+{"subtask_index": 559, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases its grip slightly, lifting fingers away from the top of the green block."}
+{"subtask_index": 560, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand re-grasps the green block on the dark surface, with fingers closing back onto the block."}
+{"subtask_index": 561, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: press: Right hand presses down on the green block again to secure it on the dark surface."}
+{"subtask_index": 562, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves rightward toward the blue square block on the table, approaching the block without making contact."}
+{"subtask_index": 563, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue square block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 564, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the blue square block on the dark table surface."}
+{"subtask_index": 565, "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 blue square block off the table and transports it leftward to the position above the green block."}
+{"subtask_index": 566, "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 square block onto the green block and adjusts its position to align with the green block for assembly."}
+{"subtask_index": 567, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the blue square block on top of the green block without moving."}
+{"subtask_index": 568, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue building block placed on the green building block, with fingers adjusting contact points to form a stable grip."}
+{"subtask_index": 569, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate_press: Right hand aligns the blue building block with the green building block below and presses it down to secure the assembly."}
+{"subtask_index": 570, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the assembled blue and green building blocks still without moving."}
+{"subtask_index": 571, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release_retreat: Right hand releases the blue building block and retreats backward away from the assembled blocks."}
+{"subtask_index": 572, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach_grasp: Right hand moves toward the orange square block on the table and closes its fingers to grasp the block."}
+{"subtask_index": 573, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the orange square block resting on the table without moving."}
+{"subtask_index": 574, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange square block on the dark table surface, with fingers closing to form a stable grip."}
+{"subtask_index": 575, "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 orange square block off the table and transports it leftward to the position above the stacked green and blue blocks."}
+{"subtask_index": 576, "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 orange square block onto the stacked green and blue blocks and adjusts it to mate with the lower block's studs."}
+{"subtask_index": 577, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the orange square block on top of the stacked green and blue blocks without moving."}
+{"subtask_index": 578, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand holds the orange block and adjusts its position to align it with the blue block below for assembly."}
+{"subtask_index": 579, "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 block downward to secure it on top of the blue block."}
+{"subtask_index": 580, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens its fingers and releases the orange block, moving slightly upward away from the block."}
+{"subtask_index": 581, "subtask": "Left hand: return_home: Left hand moves downward from the upper left area to the home position on the left side and stops. | Right hand: return_home: Right hand moves downward away from the block stack to the home position on the right side and stops."}
+{"subtask_index": 582, "subtask": "Left hand: other:move_upwards: Left hand moves upwards empty-handed, no contact with any operating objects. | Right hand: reach: Right hand moves downwards towards the small green block on the black table, empty-handed, without touching the block."}
+{"subtask_index": 583, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downwards towards the small green block on the black table, empty-handed, without touching the block."}
+{"subtask_index": 584, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes fingers to contact and grasp the small green block on the black table."}
+{"subtask_index": 585, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the small green block on the black surface."}
+{"subtask_index": 586, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the small green block off the black surface and moves it towards the larger green block."}
+{"subtask_index": 587, "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 larger green block placed on the black surface."}
+{"subtask_index": 588, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the small green block downward onto the larger green block."}
+{"subtask_index": 589, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the small green block, fingers gradually open and separate from the block."}
+{"subtask_index": 590, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: retreat: Right hand moves away from the assembled green blocks to the right side."}
+{"subtask_index": 591, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves towards the blue block placed on the black table."}
+{"subtask_index": 592, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the blue block on the black table."}
+{"subtask_index": 593, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the blue block resting on the black surface."}
+{"subtask_index": 594, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the blue block away from the black surface and moves it towards the stacked green blocks."}
+{"subtask_index": 595, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand lowers the blue block onto the top of the stacked green blocks."}
+{"subtask_index": 596, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand adjusts the position of the blue block to align it with the connection points of the green blocks."}
+{"subtask_index": 597, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the blue block downwards to attach it firmly to the green blocks."}
+{"subtask_index": 598, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the orange block onto the black table, with fingers gradually opening to separate from the block."}
+{"subtask_index": 599, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves towards the orange block that is placed on the black table."}
+{"subtask_index": 600, "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 table, with fingers closing to adjust and stabilize the grip."}
+{"subtask_index": 601, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block on the black tabletop."}
+{"subtask_index": 602, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the orange block off the tabletop and transports it to above the blue block."}
+{"subtask_index": 603, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the orange block onto the top surface of the blue block."}
+{"subtask_index": 604, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the orange block downwards to mate it with the blue block securely."}
+{"subtask_index": 605, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the orange block and retreats from the assembled blocks."}
+{"subtask_index": 606, "subtask": "Left hand: retreat: Left hand moves slightly upwards at the left side of the frame, empty-handed. | Right hand: retreat: Right hand moves upwards and to the right, retreating from the operation position near the colorful building blocks, empty-handed."}
+{"subtask_index": 607, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand remains empty at its upper right home position without any observable movement."}
+{"subtask_index": 608, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves downward toward the small green 2x2 brick on the black table surface, with fingers held in a slightly extended open posture."}
+{"subtask_index": 609, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the small green 2x2 brick, closes fingers around the brick and makes small wrist and finger adjustments to establish grip, while the brick remains resting on the table surface."}
+{"subtask_index": 610, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand extends fingers slightly to open the grip, releasing the small green 2x2 brick resting on the dark work surface."}
+{"subtask_index": 611, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves with empty open fingers toward the small green 2x2 brick on the dark work surface."}
+{"subtask_index": 612, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the small green 2x2 brick, adjusting finger positions and grip to form a stable hold, slightly lifting the brick during adjustment."}
+{"subtask_index": 613, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small green 2x2 brick steadily with no observable movement of the hand, fingers or the brick."}
+{"subtask_index": 614, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves toward the upright small green 2x2 brick on the dark gray table surface, adjusting finger positions to approach the brick without making stable contact."}
+{"subtask_index": 615, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls fingers to contact the upright green brick, fails to establish a stable grasp, and knocks the brick over to lie flat on the table."}
+{"subtask_index": 616, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves over the toppled flat green brick, adjusting its position and finger posture to re-align with the target brick."}
+{"subtask_index": 617, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand stays empty beside the toppled green brick on the table, with no visible movement of the hand or fingers."}
+{"subtask_index": 618, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls fingers around the flat green brick, making small continuous adjustments to finger contact points and grip tension to form a stable grasp, while the brick remains supported by the table."}
+{"subtask_index": 619, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: lift: Right hand moves upward with the stably grasped green brick, lifting the brick completely away from the table surface."}
+{"subtask_index": 620, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: transport: Right hand holds the small light green brick and transports it downward toward the larger light green brick placed on the dark flat surface."}
+{"subtask_index": 621, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: place: Right hand lowers the small light green brick to place it on the upper surface of the larger light green brick, until the small brick is fully supported by the larger one."}
+{"subtask_index": 622, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small light green brick on top of the larger light green brick without any visible movement or finger adjustment."}
+{"subtask_index": 623, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers gradually to release the grip on the small light green brick, separating from the brick surface."}
+{"subtask_index": 624, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand remains empty in the area adjacent to the stacked green bricks without visible movement."}
+{"subtask_index": 625, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach_grasp: Right hand moves a short distance toward the small light green brick and closes its fingers to establish a stable grasp on the brick."}
+{"subtask_index": 626, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: press: Right hand applies downward pressure on the small light green brick to press it against the larger green brick below."}
+{"subtask_index": 627, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small light green brick on the larger green brick without visible movement of the hand, wrist or fingers."}
+{"subtask_index": 628, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers while moving upward to release the small light green brick, leaving the brick resting on the larger green brick."}
+{"subtask_index": 629, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves upward with an empty hand, retreating away from the stacked green bricks."}
+{"subtask_index": 630, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves rightward toward the blue 2x2 lego brick on the dark work surface, with fingers held in a slightly extended posture."}
+{"subtask_index": 631, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls its fingers inward to close around the blue 2x2 lego brick, forming a stable grip on the brick while the brick remains on the work surface."}
+{"subtask_index": 632, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: mate: Right hand moves the grasped blue 2x2 lego brick leftward along the dark work surface to align with the adjacent green lego brick, presses down slightly to attach the two bricks together."}
+{"subtask_index": 633, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the attached blue lego brick, breaking contact between the hand and the brick surface."}
+{"subtask_index": 634, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves rightward away from the assembled lego bricks, with fingers held in a slightly spread position."}
+{"subtask_index": 635, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves leftward toward the orange 2x2 lego brick on the dark table surface, with fingers held slightly open as it approaches the brick."}
+{"subtask_index": 636, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls its fingers to close around the orange 2x2 lego brick, making small finger adjustments to form a stable grasp while the brick remains resting on the table surface."}
+{"subtask_index": 637, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped orange 2x2 lego brick off the table surface, moving leftward to carry the brick toward the stacked green and blue lego bricks."}
+{"subtask_index": 638, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: place: Right hand lowers the orange 2x2 lego brick onto the top surface of the stacked green and blue lego bricks until the orange brick is supported by the stack."}
+{"subtask_index": 639, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to align the orange 2x2 lego brick with the connection points on the stacked lego bricks, fitting the bricks into an assembled position."}
+{"subtask_index": 640, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled orange lego brick in place on top of the stacked green and blue lego bricks without observable movement."}
+{"subtask_index": 641, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand extends its fingers and opens them to release the stacked lego blocks resting on the dark table surface."}
+{"subtask_index": 642, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves upward with empty hand, retreating away from the released lego stack on the table."}
+{"subtask_index": 643, "subtask": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement."}
+{"subtask_index": 644, "subtask": "Left hand: other:adjust_finger_posture: Left hand slightly spreads its fingers to adjust posture while positioned in the upper left area, remaining empty with no contact to any objects. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture by slightly curving and spreading fingers while positioned in the upper right initial area, remaining empty without moving toward the Lego blocks."}
+{"subtask_index": 645, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture by slightly curving and spreading fingers while positioned in the upper right initial area, remaining empty without moving toward the Lego blocks."}
+{"subtask_index": 646, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green Lego block on the black table surface, maintaining a curved pre-grasp finger posture as it approaches the block without making contact."}
+{"subtask_index": 647, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the small 2x2 green Lego block, making minor adjustments to finger contact points to form a stable grasp while the block remains resting on the table surface."}
+{"subtask_index": 648, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped small 2x2 green Lego block upward, fully separating the block from the black table surface."}
+{"subtask_index": 649, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate: Right hand holds the small light green Lego block, moves it downward to align it with the larger light green Lego block on the dark work surface to enter the assembly position."}
+{"subtask_index": 650, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press: Right hand presses down vertically on the aligned small light green Lego block to secure and embed it onto the larger light green Lego block."}
+{"subtask_index": 651, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: release: Right hand opens its fingers gradually to release the embedded small light green Lego block, moving fingers away from the grasping position."}
+{"subtask_index": 652, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains stationary near the assembled Lego blocks without grasping any object, with no observable movement."}
+{"subtask_index": 653, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves from above the green lego block toward the blue lego block on the dark table surface, with fingers extended as it approaches the target."}
+{"subtask_index": 654, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp_lift: Right hand closes fingers around the blue lego block on the dark table surface, adjusts grip to secure the block, and lifts the block slightly off the table surface."}
+{"subtask_index": 655, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: transport_release: Right hand holds the blue lego block, moves it a short distance across the table area, and opens fingers to release the block as it falls toward the surface."}
+{"subtask_index": 656, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains empty near the green and orange lego blocks without moving."}
+{"subtask_index": 657, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach_reorient: Right hand moves left and downward from above the green block toward the blue block on the dark table, contacts the block and rotates it roughly 180 degrees to turn its studded top face upward while the block stays in nearly the same position."}
+{"subtask_index": 658, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand makes slight positional adjustments above the flipped blue block, repositioning fingers to prepare for gripping the block."}
+{"subtask_index": 659, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the blue block, making small adjustments to finger contact points to form a stable grip on the block while it rests on the table."}
+{"subtask_index": 660, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the blue block steadily on the table surface, with no observable movement of the hand, fingers, or the gripped block."}
+{"subtask_index": 661, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand maintains grip on the blue block, lifts it completely off the table surface, and moves it rightward to a position next to the green block."}
+{"subtask_index": 662, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: place_release: Right hand lowers the blue block to rest on the table at the new position, then opens fingers to release the block and remains adjacent to the placed block."}
+{"subtask_index": 663, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the blue building block placed on the dark gray table with fingers held in a slightly open posture."}
+{"subtask_index": 664, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the blue building block to form a stable grasp, with the block resting on the dark gray table surface."}
+{"subtask_index": 665, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift: Right hand raises the grasped blue building block upward to lift it completely off the table surface."}
+{"subtask_index": 666, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: transport: Right hand moves while holding the blue building block, carrying it toward the adjacent green building block on the table."}
+{"subtask_index": 667, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the held blue building block to align its connection points with the top connection points of the green building block."}
+{"subtask_index": 668, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press_release: Right hand exerts downward pressure on the aligned blue building block to attach it to the green block, and opens fingers to release the connected blocks."}
+{"subtask_index": 669, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the small orange block on the dark table surface, approaching the target without making contact."}
+{"subtask_index": 670, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the orange block resting on the table, making slight finger adjustments to form a stable grasp."}
+{"subtask_index": 671, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange block off the table surface and moves it horizontally to a position above the stacked green and blue blocks."}
+{"subtask_index": 672, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate_release: Right hand aligns and fits the orange block onto the top of the stacked green and blue blocks, with fingers opening to release the connected block."}
+{"subtask_index": 673, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand extends the index finger and moves toward the top surface of the assembled orange block."}
+{"subtask_index": 674, "subtask": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press_retreat: Right index finger presses downward on the top surface of the orange block to secure the assembly, slightly retreating away from the block surface."}
+{"subtask_index": 675, "subtask": "Left hand: return_home: Left hand moves toward the body-side home position and rotates about a quarter turn, adjusting its posture from fingers pointing rightward to fingers pointing upward. | Right hand: return_home: Right hand moves away from the stacked blocks toward the body-side home position and rotates about a quarter turn, adjusting its posture from a block-facing open posture to fingers pointing upward."}
+{"subtask_index": 676, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without any visible movement. | Right hand: idle: Right hand remains empty and stationary at the right home position without any visible movement."}
+{"subtask_index": 677, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves forward and downward toward the building blocks placed on the black table."}
+{"subtask_index": 678, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves towards the small green building block on the black surface."}
+{"subtask_index": 679, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small green building block, adjusting the grip slightly."}
+{"subtask_index": 680, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block off the black surface."}
+{"subtask_index": 681, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block up from the black surface."}
+{"subtask_index": 682, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the small green building block toward the larger green building block."}
+{"subtask_index": 683, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the small green building block onto the larger green building block."}
+{"subtask_index": 684, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the small green building block on the black table surface."}
+{"subtask_index": 685, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block completely off the black table surface."}
+{"subtask_index": 686, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the small green building block to the position above the larger green building block."}
+{"subtask_index": 687, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand lowers the small green building block onto the top surface of the larger green building block."}
+{"subtask_index": 688, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens its fingers to release the small green building block."}
+{"subtask_index": 689, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the small green building block placed on the black surface by opening its fingers."}
+{"subtask_index": 690, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the blue building block on the black surface."}
+{"subtask_index": 691, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue building block on the black table, with slight finger adjustments to stabilize the grip."}
+{"subtask_index": 692, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the blue building block on the black table without moving."}
+{"subtask_index": 693, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the blue building block from the table surface and transports it above the green building block."}
+{"subtask_index": 694, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the blue building block onto the top surface of the green building block."}
+{"subtask_index": 695, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the blue building block down to mate with the green building block."}
+{"subtask_index": 696, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the blue building block with fingers opening."}
+{"subtask_index": 697, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the blue building block placed on the gray work surface."}
+{"subtask_index": 698, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the orange building block on the gray work surface."}
+{"subtask_index": 699, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the orange building block on the gray work surface."}
+{"subtask_index": 700, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the orange building block on the black table."}
+{"subtask_index": 701, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the orange building block from the tabletop and transports it toward the stacked blue and green building blocks."}
+{"subtask_index": 702, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the orange building block onto the top of the stacked blue building block."}
+{"subtask_index": 703, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the orange building block down onto the blue building block to complete the assembly."}
+{"subtask_index": 704, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the orange building block on top of the stacked blocks."}
+{"subtask_index": 705, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand moves backward away from the building blocks."}
+{"subtask_index": 706, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving."}
+{"subtask_index": 707, "subtask": "Left hand: other:adjust_posture: Left hand moves upward from its initial upright position with fingers spreading open, rising to the upper left area while remaining empty. | Right hand: other:adjust_posture: Right hand moves upward from its initial upright position, adjusting wrist and finger posture as it moves to the upper right area, remaining empty."}
+{"subtask_index": 708, "subtask": "Left hand: other:adjust_posture: Left hand moves upward from its initial upright position with fingers spreading open, rising to the upper left area while remaining empty. | Right hand: reach: Right hand moves downward from the upper right area toward the small green block on the black table surface, fingers curving slightly as it approaches the target."}
+{"subtask_index": 709, "subtask": "Left hand: other:adjust_posture: Left hand makes slight downward posture adjustments at the upper left area, keeping fingers spread and not touching any blocks on the table. | Right hand: reach: Right hand moves downward from the upper right area toward the small green block on the black table surface, fingers curving slightly as it approaches the target."}
+{"subtask_index": 710, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: other:adjust_object_position: Right hand makes contact with the small green Lego brick on the dark table surface, adjusting its position by sliding the brick slightly across the table with small finger and wrist movements."}
+{"subtask_index": 711, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand, now empty, moves slightly upward and away from the small green Lego brick after releasing contact with it."}
+{"subtask_index": 712, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves downward through the air toward the small green Lego brick, approaching the brick without making contact."}
+{"subtask_index": 713, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: other:adjust_object_position: Right hand makes contact with the small green Lego brick again, adjusting its position on the dark table surface via small finger and wrist movements."}
+{"subtask_index": 714, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift_transport: Right hand holds the small green lego brick, lifts it from the table surface and moves it downward to make contact with the larger flat green lego brick."}
+{"subtask_index": 715, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: mate: Right hand adjusts the position of the small green lego brick on the larger flat green lego brick to align their interlocking points, with fingers making fine positional adjustments to the brick."}
+{"subtask_index": 716, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand presses vertically down on the aligned small green lego brick to fasten it securely to the larger flat green lego brick."}
+{"subtask_index": 717, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: release: Right hand opens its fingers to release the fastened small green lego brick, breaking physical contact with the brick."}
+{"subtask_index": 718, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward away from the assembled green lego bricks as an empty hand."}
+{"subtask_index": 719, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves right across the dark table surface toward the small blue lego brick, with fingers held slightly open as it approaches the brick."}
+{"subtask_index": 720, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: grasp: Right hand adjusts the positions of its thumb and index finger around the small blue lego brick, closing fingers gradually to form a stable grip on the brick while the brick remains on the table."}
+{"subtask_index": 721, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift: Right hand holds the small blue lego brick and lifts it upward, raising the brick completely off the dark table surface."}
+{"subtask_index": 722, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: transport: Right hand carries the lifted small blue lego brick, moving it downward and to the left across the table area."}
+{"subtask_index": 723, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: transport: Right hand holds the small blue lego brick and moves leftward toward the green lego brick."}
+{"subtask_index": 724, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: place: Right hand lowers the grasped small blue lego brick onto the table surface adjacent to the green lego brick until the brick is fully supported by the table."}
+{"subtask_index": 725, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: mate_release: Right hand adjusts the grasped blue lego brick to align tightly against the adjacent green lego brick, opening fingers to release the brick."}
+{"subtask_index": 726, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand uses fingers to press the top and side surfaces of the blue lego brick to secure its position next to the green lego brick on the table."}
+{"subtask_index": 727, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward and rightward away from the lego bricks, retreating from the operation area with an empty hand."}
+{"subtask_index": 728, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves upward and right toward the small orange lego brick on the dark gray surface, remaining empty with fingers slightly extended."}
+{"subtask_index": 729, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: grasp: Right hand closes fingers around the small orange lego brick, making slight positional adjustments of the fingers and wrist to form a stable grip while the brick stays on the dark gray surface."}
+{"subtask_index": 730, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift_transport: Right hand lifts the small orange lego brick completely off the dark gray surface and moves it downward and left toward the stacked blue and green lego bricks."}
+{"subtask_index": 731, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: place: Right hand holds the small orange lego brick and moves it downward to place it on top of the stacked green and blue lego bricks."}
+{"subtask_index": 732, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: hold: Right hand holds the stably placed small orange lego brick on the lego stack without obvious movement or adjustment."}
+{"subtask_index": 733, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: release: Right hand opens its fingers gradually to release the grasp on the orange lego brick, separating the fingers from the brick surface."}
+{"subtask_index": 734, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand positions its finger on the top surface of the orange lego brick and presses vertically downward to secure the brick to the stack."}
+{"subtask_index": 735, "subtask": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward and away from the lego stack as an empty hand after the pressing action."}
+{"subtask_index": 736, "subtask": "Left hand: return_home: Left hand moves upward and backward with an empty hand to reach the home position and stops. | Right hand: return_home: Right hand moves upward and backward with an empty hand to reach the home position and stops."}
+{"subtask_index": 737, "subtask": "Left hand: other:adjust_hand_posture: Left hand slightly opens its fingers while staying raised at the upper left area of the table, with no obvious large position change. | Right hand: other:adjust_hand_posture: Right hand slightly opens its fingers while staying raised at the upper right area of the table, with no obvious large position change."}
+{"subtask_index": 738, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: idle: Right hand remains empty and raised at the upper right of the table without obvious movement or posture change."}
+{"subtask_index": 739, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach: Right hand moves downward toward the colorful lego blocks on the table with an empty hand, approaching the blocks without forming a closed grasp."}
+{"subtask_index": 740, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand closes fingers around the small light green Lego brick on the dark work surface, making fine adjustments to finger contact points and wrist angle, rotating the brick slightly to establish a stable grip."}
+{"subtask_index": 741, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand holds the small light green Lego brick, adjusts its position and aligns it to the connection studs on the larger stacked light green Lego brick below."}
+{"subtask_index": 742, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses down on the top surface of the small light green Lego brick to fasten it to the larger light green Lego brick underneath."}
+{"subtask_index": 743, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: retreat: Right hand moves upward and backward away from the stacked light green Lego bricks while empty."}
+{"subtask_index": 744, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach_grasp: Right hand moves from the area near the stacked light green Lego bricks toward the blue Lego brick, closes fingers around the blue Lego brick, and makes continuous small adjustments of fingers and wrist to form a stable grip on the brick resting on the dark surface."}
+{"subtask_index": 745, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift: Right hand moves upward with the grasped blue Lego brick, lifting the brick completely away from the dark supporting surface."}
+{"subtask_index": 746, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: transport: Right hand carries the lifted blue Lego brick through the air, moving the brick toward the stacked light green Lego bricks."}
+{"subtask_index": 747, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand positions the blue Lego brick against the top of the stacked light green Lego bricks, makes small wrist and finger adjustments to align the bricks for assembly, and attaches the blue brick to the green brick stack."}
+{"subtask_index": 748, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand adjusts the positions of its fingers around the blue Lego brick on the dark work surface to form a stable, secure grip on the brick."}
+{"subtask_index": 749, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift: Right hand holds the blue Lego brick firmly and lifts it upward until the brick is completely lifted off the dark work surface."}
+{"subtask_index": 750, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: transport: Right hand carries the lifted blue Lego brick, moving it horizontally toward the stacked light green Lego brick while adjusting its position to align with the light green brick's top."}
+{"subtask_index": 751, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: place: Right hand lowers the blue Lego brick vertically until the brick rests fully on the top surface of the light green Lego brick, supported by the light green structure."}
+{"subtask_index": 752, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses vertically down on the top of the blue Lego brick, making small finger adjustments to apply steady pressure to secure the connection between the two bricks."}
+{"subtask_index": 753, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release: Right hand opens its fingers gradually to release its grip on the blue Lego brick, with fingers beginning to move away from the brick."}
+{"subtask_index": 754, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach: Right hand moves toward the orange Lego brick on the black work surface with fingers slightly spread, approaching the target without making contact."}
+{"subtask_index": 755, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand makes contact with the orange Lego brick, fingers close around the brick and adjust slightly to form a stable grip while the brick remains resting on the work surface."}
+{"subtask_index": 756, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift_transport: Right hand lifts the orange Lego brick completely off the work surface and moves the brick toward the stacked green and blue Lego bricks."}
+{"subtask_index": 757, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand aligns the orange Lego brick with the top surface of the stacked green Lego brick, presses down slightly to fit the two bricks together."}
+{"subtask_index": 758, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand makes small finger and wrist adjustments to stabilize its grip on the orange Lego brick."}
+{"subtask_index": 759, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: place: Right hand moves the orange Lego brick downward to place it on top of the stacked blue Lego bricks, until the brick is supported by the blue stack."}
+{"subtask_index": 760, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses down on the top surface of the orange Lego brick to secure it to the underlying blue Lego stack."}
+{"subtask_index": 761, "subtask": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}
+{"subtask_index": 762, "subtask": "Left hand: return_home: Left hand moves upward and backward toward the left home position, rotates the wrist slightly to point fingers upward, and stops stationary at the home position. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}
+{"subtask_index": 763, "subtask": "Left hand: reach: Left hand moves upward, adjusts its finger postures, and approaches the building blocks above the black table. | Right hand: reach: Right hand moves upward, adjusts its finger postures, and approaches the blue building block above the black table."}
+{"subtask_index": 764, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small green block on the table."}
+{"subtask_index": 765, "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 grasp the small green block on the table."}
+{"subtask_index": 766, "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 upward away from the table surface."}
+{"subtask_index": 767, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the small green block and transports it above the other green block placed on the table."}
+{"subtask_index": 768, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the small green block with the green block on the table to mate them together."}
+{"subtask_index": 769, "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 down onto the green block on the table to secure the assembly."}
+{"subtask_index": 770, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the small green block, separating from the block."}
+{"subtask_index": 771, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward slightly away from the assembled green blocks."}
+{"subtask_index": 772, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the blue block on the table."}
+{"subtask_index": 773, "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 upwards off the table surface."}
+{"subtask_index": 774, "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 horizontally to the position above the green block."}
+{"subtask_index": 775, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and places the blue block onto the green block for assembly."}
+{"subtask_index": 776, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the grasped blue block."}
+{"subtask_index": 777, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the blue block downwards to tighten the assembly with the green block."}
+{"subtask_index": 778, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the assembled blocks to the right side."}
+{"subtask_index": 779, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed on the table."}
+{"subtask_index": 780, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, with slight adjustments to stabilize the grip."}
+{"subtask_index": 781, "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 orange block off the table and transports it above the green-blue combined block."}
+{"subtask_index": 782, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top of the green-blue block to fit them together."}
+{"subtask_index": 783, "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 green-blue block to secure the assembly."}
+{"subtask_index": 784, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the orange block."}
+{"subtask_index": 785, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the assembled blocks without moving."}
+{"subtask_index": 786, "subtask": "Left hand: return_home: Left hand moves backward to its initial position on the left side while remaining empty. | Right hand: return_home: Right hand moves backward to its initial position on the right side while remaining empty."}
+{"subtask_index": 787, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: idle: Right hand remains empty in the upper right raised position without active movement."}
+{"subtask_index": 788, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves downward with extended fingers, approaching the small building blocks on the dark table surface without making contact with the blocks."}
+{"subtask_index": 789, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand makes contact with the small green and orange building blocks on the table, fingers closing and adjusting slightly to establish a grip on the blocks."}
+{"subtask_index": 790, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release: Right hand opens fingers to release the small light green Lego block and small orange Lego block, fully separating from both blocks by the end of the segment."}
+{"subtask_index": 791, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves with empty fingers toward the small light green Lego block on the dark work surface."}
+{"subtask_index": 792, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand adjusts extended finger positions to establish stable contact with the small light green Lego block on the dark surface without moving the block."}
+{"subtask_index": 793, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: push: Right hand uses extended fingers to push the small light green Lego block across the dark surface toward the larger green Lego block."}
+{"subtask_index": 794, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: hold: Right hand remains stationary with extended fingers contacting the small light green Lego block, which rests against the larger green Lego block with no observable movement of the hand or block."}
+{"subtask_index": 795, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: push_reach: Right hand index finger pushes the stacked light green Lego block slightly to shift its position on the dark gray work surface, with the finger moving away from the block toward the nearby orange Lego block."}
+{"subtask_index": 796, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: idle: Right hand stays stationary with the index finger resting on the small orange Lego block, no observable movement."}
+{"subtask_index": 797, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: other:adjust_lego_position: Right hand moves the index finger back to the stacked light green Lego block, presses and pushes the block to make small positional adjustments on the work surface, lifting the finger off the block and moving away at the end of the segment."}
+{"subtask_index": 798, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves toward the blue Lego block on the dark gray surface with fingers slightly spread and extended."}
+{"subtask_index": 799, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand curls fingers around the blue Lego block, making small adjustments to finger positions to secure the grip while the block remains on the supporting surface."}
+{"subtask_index": 800, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: transport: Right hand holds the secured blue Lego block and moves it horizontally toward the adjacent green Lego block."}
+{"subtask_index": 801, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: mate: Right hand adjusts the position of the blue Lego block to align and fit it onto the top surface of the green Lego block."}
+{"subtask_index": 802, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release_retreat: Right hand opens fingers to release the blue Lego block fitted on the green block, moving slightly away from the assembled blocks with an empty hand."}
+{"subtask_index": 803, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves toward the orange Lego block resting on the dark gray surface, with extended fingers approaching the target block."}
+{"subtask_index": 804, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand curls fingers to close around the orange Lego block, adjusting finger contact points to form a stable grasp while the block remains on the dark gray supporting surface."}
+{"subtask_index": 805, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: lift: Right hand lifts the grasped orange Lego block upward until the block is completely separated from the dark gray supporting surface."}
+{"subtask_index": 806, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: transport: Right hand carries the lifted orange Lego block, moving it downward toward the stacked blue and green Lego blocks below."}
+{"subtask_index": 807, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: place: Right hand lowers the orange Lego block until the block rests on and is supported by the blue Lego block beneath it."}
+{"subtask_index": 808, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: mate: Right hand adjusts the position of the orange Lego block slightly to align it properly with the blue Lego block below, completing the stacking alignment."}
+{"subtask_index": 809, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release: Right hand extends fingers to open, releasing the grasp on the orange Lego block and separating fingers from the block surface."}
+{"subtask_index": 810, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves its extended index finger downward toward the top surface of the stacked orange Lego block, with the fingertip not yet touching the block surface."}
+{"subtask_index": 811, "subtask": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: press_retreat: Right hand applies downward vertical pressure on the top surface of the orange Lego block with its extended index finger, lifting the index finger upward away from the block to complete the pressing motion."}
+{"subtask_index": 812, "subtask": "Left hand: return_home: Left hand remains empty and moves upward from the position near the stacked Lego blocks to return to the left home position. | Right hand: return_home: Right hand remains empty and moves upward from the position near the stacked Lego blocks to return to the right home position."}
+{"subtask_index": 813, "subtask": "Left hand: other:adjust_hand_posture: Left hand moves slightly upward, adjusting finger and wrist posture while remaining empty and out of contact with any objects. | Right hand: other:adjust_hand_posture: Right hand adjusts its initial wrist and finger posture, remaining empty above the right side of the black table."}
+{"subtask_index": 814, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:adjust_hand_posture: Right hand adjusts its initial wrist and finger posture, remaining empty above the right side of the black table."}
+{"subtask_index": 815, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the table, with fingers held slightly open."}
+{"subtask_index": 816, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp_release: Right hand fingers close to make contact with the small green lego brick, adjust position to shift the brick slightly on the black table, and open fingers to separate from the brick."}
+{"subtask_index": 817, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: idle: Right hand stays empty in the position above the shifted small green lego brick with no visible movement."}
+{"subtask_index": 818, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the table, with fingers held open."}
+{"subtask_index": 819, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp_release: Right hand fingers close to contact the top surface of the small green lego brick, adjust finger placement on the brick, and open fingers to separate from the brick."}
+{"subtask_index": 820, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves upward away from the small green lego brick, remaining empty as it retreats."}
+{"subtask_index": 821, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small blue lego brick on the dark gray surface, fingers approaching the brick without making contact."}
+{"subtask_index": 822, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand fingers make contact with the small blue lego brick, close and adjust positions to form a stable grip on the brick while the brick remains on the supporting surface."}
+{"subtask_index": 823, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reorient_release: Right hand rotates the gripped small blue lego brick with a small wrist rotation to adjust its upright orientation, opens fingers to release the properly positioned brick onto the supporting surface."}
+{"subtask_index": 824, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves upward away from the released small blue lego brick, retreating from the brick's position with an empty hand."}
+{"subtask_index": 825, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves toward the small green lego brick on the dark gray work surface with open fingers, approaching the target brick."}
+{"subtask_index": 826, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes its fingers around the small green lego brick, making small finger adjustments to form a stable grip on the brick."}
+{"subtask_index": 827, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the small green lego brick fully off the work surface and moves it horizontally toward the longer green lego brick positioned to the right."}
+{"subtask_index": 828, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the small green lego brick onto the upper surface of the longer green lego brick, making small positional adjustments to align the small brick."}
+{"subtask_index": 829, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the small green lego brick, breaking contact with the brick as it tips over onto the work surface."}
+{"subtask_index": 830, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves with open fingers toward the tipped small green lego brick on the work surface, approaching the fallen brick."}
+{"subtask_index": 831, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:nudge_brick: Right hand uses extended fingers to nudge the tipped small green lego brick, adjusting its orientation to set it upright on the work surface."}
+{"subtask_index": 832, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: idle: Right hand remains empty above the work surface near the upright small green lego brick without any visible movement."}
+{"subtask_index": 833, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes its fingers around the upright small green lego brick, adjusting finger positions to establish a stable grip on the brick."}
+{"subtask_index": 834, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the small green lego brick fully off the work surface and moves it horizontally toward the longer green lego brick below."}
+{"subtask_index": 835, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the small green lego brick onto the upper surface of the longer green lego brick, making small alignment adjustments and applying gentle pressure to seat the brick."}
+{"subtask_index": 836, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the stacked small green lego brick, fully separating from contact with the brick."}
+{"subtask_index": 837, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves away from the stacked lego bricks while empty, retreating from the operation position."}
+{"subtask_index": 838, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach_grasp: Right hand moves toward the small upright blue lego brick resting on the dark gray table surface, adjusting finger positions to close around the brick and form a stable grasp."}
+{"subtask_index": 839, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: push: Right hand maintains contact with the grasped small blue lego brick, pushing the brick leftward across the dark table surface until it rests adjacent to the stacked green lego bricks."}
+{"subtask_index": 840, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the held small blue lego brick, lifting the digits slightly away from the sides of the brick."}
+{"subtask_index": 841, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: press_retreat: Right hand moves its index finger down to apply downward pressure on the top surface of the small blue lego brick, lifting the finger away from the brick as pressure is completed."}
+{"subtask_index": 842, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves rightward while empty to approach the small orange lego brick on the dark gray flat surface."}
+{"subtask_index": 843, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes fingers around the small orange lego brick, adjusting finger positions to establish a stable grip on the brick resting on the surface."}
+{"subtask_index": 844, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:repeatedly_flip_lego: Right hand grips the small orange lego brick, repeatedly lifting it slightly off the dark gray surface, rotating it around multiple axes to change its facing direction, and placing it back onto the surface, with continuous small adjustments of fingers and wrist throughout the process."}
+{"subtask_index": 845, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the small orange lego brick resting on the dark work surface, with the brick remaining on the surface."}
+{"subtask_index": 846, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the grasped orange lego brick clear of the dark surface and moves it horizontally leftward to position it directly over the existing stacked green and blue lego bricks."}
+{"subtask_index": 847, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the orange lego brick onto the top of the stacked green and blue bricks, makes small positional adjustments to align the brick and applies downward pressure to seat it properly."}
+{"subtask_index": 848, "subtask": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release_retreat: Right hand opens its fingers to release the seated orange lego brick, then moves upward and rightward away from the lego stack with an empty hand."}
+{"subtask_index": 849, "subtask": "Left hand: retreat: Left hand remains empty, moves upward and backward away from the stacked lego bricks on the dark table surface, with fingers gradually closing during movement. | Right hand: retreat: Right hand remains empty, moves upward and backward away from the stacked lego bricks on the dark table surface, with fingers gradually adjusting posture during movement."}
+{"subtask_index": 850, "subtask": "Left hand: reach: Left hand moves upward to the upper left area of the table while remaining empty. | Right hand: reach: Right hand moves downward toward the blue block on the table while remaining empty."}
+{"subtask_index": 851, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the small green block on the black table surface."}
+{"subtask_index": 852, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small green block."}
+{"subtask_index": 853, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the small green block on the table without any movement."}
+{"subtask_index": 854, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport_place: Right hand transports the small green block to the side of the larger green block and places it on the table surface."}
+{"subtask_index": 855, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the larger green block on the table to form a stable grip."}
+{"subtask_index": 856, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the larger green block slightly to a new position on the table."}
+{"subtask_index": 857, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_retreat: Right hand releases the larger green block and moves away from the operation position."}
+{"subtask_index": 858, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the blue block on the black table surface."}
+{"subtask_index": 859, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue block on the table."}
+{"subtask_index": 860, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the blue block still above the table surface."}
+{"subtask_index": 861, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the grasped blue block towards the green block on the table."}
+{"subtask_index": 862, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand places the blue block onto the top of the green block and adjusts to assemble them together."}
+{"subtask_index": 863, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the blue block on top of the yellow base block by opening its fingers."}
+{"subtask_index": 864, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the blue block on the yellow base block on the table."}
+{"subtask_index": 865, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press_retreat: Right hand presses the blue block onto the yellow base block, then moves away from the block."}
+{"subtask_index": 866, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed on the table surface."}
+{"subtask_index": 867, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the orange block."}
+{"subtask_index": 868, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand carries the orange block and moves it toward the combined blue-green block."}
+{"subtask_index": 869, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top of the blue-green block and presses to complete assembly."}
+{"subtask_index": 870, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand opens its fingers to release the orange block."}
+{"subtask_index": 871, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: retreat: Right hand moves slightly backward away from the assembled blocks."}
+{"subtask_index": 872, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the orange block on the table."}
+{"subtask_index": 873, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: push: Right hand pushes the orange block towards the green and blue blocks on the table."}
+{"subtask_index": 874, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the orange block on the table near the stacked green and blue blocks."}
+{"subtask_index": 875, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, making slight grip adjustments."}
+{"subtask_index": 876, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table and moves it to the right side of the table."}
+{"subtask_index": 877, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the orange block onto the right area of the table and releases its grip on the block."}
+{"subtask_index": 878, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the orange block placed on the right area of the table."}
+{"subtask_index": 879, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the orange block and adjusts its position slightly on the table."}
+{"subtask_index": 880, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand holds the orange block and moves it towards the stacked green and blue blocks on the left."}
+{"subtask_index": 881, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand holds the orange block and moves it towards the stacked blue and green blocks."}
+{"subtask_index": 882, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand lowers the orange block onto the top surface of the green block."}
+{"subtask_index": 883, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand adjusts the orange block to align with the green block for assembly."}
+{"subtask_index": 884, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the orange block downwards to secure it onto the stacked blocks."}
+{"subtask_index": 885, "subtask": "Left hand: retreat: Left hand moves backward to the left side of the table without holding any object. | Right hand: retreat: Right hand moves backward to the right side of the table without holding any object."}
+{"subtask_index": 886, "subtask": "Left hand: other:move_upward: Left hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects, fingers held in a slightly extended posture during the movement. | Right hand: other:move_upward: Right hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects."}
+{"subtask_index": 887, "subtask": "Left hand: other:move_upward: Left hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects, fingers held in a slightly extended posture during the movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the black table surface, remaining empty with fingers slightly adjusting as it approaches the target."}
+{"subtask_index": 888, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves downward toward the small green lego brick on the black table surface, remaining empty with fingers slightly adjusting as it approaches the target."}
+{"subtask_index": 889, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand moves slightly toward the small green 1x1 Lego brick and closes fingers to form a grasp on the brick resting on the dark surface."}
+{"subtask_index": 890, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about half a turn horizontally, keeping the brick in contact with the dark surface."}
+{"subtask_index": 891, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick, which stays resting on the dark surface."}
+{"subtask_index": 892, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: retreat: Right hand lifts slightly and moves a short distance backward away from the released Lego brick, remaining empty."}
+{"subtask_index": 893, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves downward toward the small green 1x1 Lego brick on the dark surface, approaching to re-grasp."}
+{"subtask_index": 894, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers to firmly grasp the small green 1x1 Lego brick resting on the dark surface."}
+{"subtask_index": 895, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about a quarter turn, maintaining contact with the dark surface."}
+{"subtask_index": 896, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick onto the dark surface."}
+{"subtask_index": 897, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves a short distance toward the repositioned small green 1x1 Lego brick, staying close to the dark surface."}
+{"subtask_index": 898, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to grasp the small green 1x1 Lego brick, making small adjustments to stabilize the grip."}
+{"subtask_index": 899, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about an eighth of a turn, shifting its position slightly on the dark surface."}
+{"subtask_index": 900, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand presses a finger against the top surface of the small green 1x1 Lego brick, applying downward force perpendicular to the dark surface."}
+{"subtask_index": 901, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand repositions fingers and closes them to firmly grasp the small green 1x1 Lego brick on the dark surface."}
+{"subtask_index": 902, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about half a turn, flipping the brick to show its studded side while keeping it near the dark surface."}
+{"subtask_index": 903, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick, which rests on the dark surface."}
+{"subtask_index": 904, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves toward the small green 1x1 Lego brick on the dark surface, positioning to re-grasp the brick."}
+{"subtask_index": 905, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers to grasp the small green 1x1 Lego brick resting on the dark surface."}
+{"subtask_index": 906, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about a quarter turn, adjusting its position slightly on the dark surface."}
+{"subtask_index": 907, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand repeatedly taps the top surface of the small green 1x1 Lego brick with a finger, applying light downward force perpendicular to the dark surface."}
+{"subtask_index": 908, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers around the small green 1x1 Lego brick, adjusting grip to prepare for lifting."}
+{"subtask_index": 909, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift: Right hand lifts the grasped small green 1x1 Lego brick upward, fully separating it from the dark supporting surface."}
+{"subtask_index": 910, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand grips the small green 1x1 Lego brick, lifts it off the dark work surface, and moves it downward to the position above the larger green Lego brick."}
+{"subtask_index": 911, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: place: Right hand lowers the small green 1x1 Lego brick until it rests on the surface of the larger green Lego brick."}
+{"subtask_index": 912, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: hold: Right hand holds the small green 1x1 Lego brick as it rests on the larger green Lego brick, with no visible movement of the hand or brick."}
+{"subtask_index": 913, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: mate: Right hand adjusts the position of the small green 1x1 Lego brick, aligning it with the connection studs on the larger green Lego brick to fit the two bricks together."}
+{"subtask_index": 914, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: hold: Right hand remains stationary on the assembled small green 1x1 Lego brick, holding it in place on the larger green Lego brick."}
+{"subtask_index": 915, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the blue 1x1 lego brick on the dark work surface to form a stable grasp."}
+{"subtask_index": 916, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand lifts the grasped blue 1x1 lego brick off the dark surface and moves it leftward and downward toward the adjacent green lego brick."}
+{"subtask_index": 917, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: place: Right hand lowers the blue 1x1 lego brick onto the top surface of the green lego brick until the blue brick is fully supported by the green brick."}
+{"subtask_index": 918, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens its fingers to release the blue 1x1 lego brick positioned on the green lego brick, separating fingers from the brick surface."}
+{"subtask_index": 919, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand repeatedly presses and taps the small orange block stacked on the blue-green building block until the block detaches and falls onto the dark table surface."}
+{"subtask_index": 920, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves with empty fingers toward the small orange block that has fallen onto the dark table surface."}
+{"subtask_index": 921, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient_release: Right hand grips the small orange block on the table, rotates it to adjust its orientation, and releases the block as it tips over onto the table."}
+{"subtask_index": 922, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: idle: Right hand stays empty and stationary above the orange block without making contact with any objects."}
+{"subtask_index": 923, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient_release: Right hand moves down to contact the orange block, rotates and shifts the block slightly to adjust its position and orientation, and releases contact with the block."}
+{"subtask_index": 924, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves with empty fingers back toward the orange block on the table to approach it for further adjustment."}
+{"subtask_index": 925, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand grips the orange block, repeatedly rotates the block and adjusts its grip with small finger and wrist movements to modify the block's orientation."}
+{"subtask_index": 926, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release_retreat: Right hand releases its grip on the orange block and moves a short distance backward away from the block with empty fingers before coming to a stop."}
+{"subtask_index": 927, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand moves back to contact the orange block, making small rotational and positional adjustments to the block with slight finger and wrist movements."}
+{"subtask_index": 928, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers around the orange 1x1 lego brick resting on the dark gray table surface to form a stable grasp."}
+{"subtask_index": 929, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand lifts the grasped orange 1x1 lego brick off the dark gray table surface and moves it leftward to position directly above the stacked green and blue lego bricks."}
+{"subtask_index": 930, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: mate_release: Right hand makes slight positional and rotational adjustments to the grasped orange 1x1 lego brick to align it with the top surface of the blue lego brick, opens fingers to release the brick once it is stably supported by the blue lego brick."}
+{"subtask_index": 931, "subtask": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: retreat: Right hand moves empty upward and rightward away from the stacked lego bricks."}
+{"subtask_index": 932, "subtask": "Left hand: return_home: Left hand moves backward empty toward its initial resting position, with fingers gradually adjusting from an extended pointing posture to a relaxed closed posture during movement. | Right hand: return_home: Right hand moves backward empty toward its initial resting position, with fingers gradually adjusting from an extended pointing posture to a relaxed closed posture during movement."}
+{"subtask_index": 933, "subtask": "Left hand: reach: Left hand moves upward and slightly rightward to the upper left area above the black table with fingers open. | Right hand: reach: Right hand moves upward and slightly leftward above the black table with fingers open."}
+{"subtask_index": 934, "subtask": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves upward and slightly leftward above the black table with fingers open."}
+{"subtask_index": 935, "subtask": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving."}
+{"subtask_index": 936, "subtask": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves left to approach the small green cube on the table."}
+{"subtask_index": 937, "subtask": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small green cube on the table, with slight finger adjustments to stabilize the grip."}
+{"subtask_index": 938, "subtask": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: hold: Right hand holds the small green cube on the table without moving."}
+{"subtask_index": 939, "subtask": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand grasps the green block on the table with slight finger adjustments to stabilize the grip."}
+{"subtask_index": 940, "subtask": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reorient: Right hand reorients the green block on the table with slight rotation, position remains mostly unchanged."}
+{"subtask_index": 941, "subtask": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and transports it leftward."}
+{"subtask_index": 942, "subtask": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: place_release: Right hand places the small green block on the table and releases it."}
+{"subtask_index": 943, "subtask": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves toward the small green block on the table with fingers open."}
+{"subtask_index": 944, "subtask": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand grasps the small green block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 945, "subtask": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: hold: Right hand holds the small green block on the table without moving."}
+{"subtask_index": 946, "subtask": "Left hand: return_home: Left hand moves downward and back to the initial left position beside the table. | Right hand: retreat: Right hand moves upward and rightward away from the stacked building blocks on the table."}
+{"subtask_index": 947, "subtask": "Left hand: idle: Left hand remains empty at the initial left position beside the table without moving. | Right hand: retreat: Right hand moves upward and rightward away from the stacked building blocks on the table."}
+{"subtask_index": 948, "subtask": "Left hand: idle: Left hand remains empty at the initial left position beside the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}
+{"subtask_index": 949, "subtask": "Left hand: reach: Left hand moves upward to the left upper area of the table with fingers open, no object is contacted. | Right hand: reach_grasp: Right hand moves forward and downward toward the small green building block on the table, then makes contact with the block to initiate grasping."}
+{"subtask_index": 950, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach_grasp: Right hand moves forward and downward toward the small green building block on the table, then makes contact with the block to initiate grasping."}
+{"subtask_index": 951, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts its fingers to grasp the small green building block on the black surface."}
+{"subtask_index": 952, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: transport: Right hand transports the grasped small green building block downward toward the larger flat green building block on the table."}
+{"subtask_index": 953, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: place: Right hand places the small green building block onto the larger flat green building block on the table."}
+{"subtask_index": 954, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand adjusts the small green building block to align with the larger flat green building block underneath."}
+{"subtask_index": 955, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the small green building block by opening its fingers."}
+{"subtask_index": 956, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts fingers to grasp the green building block on the table."}
+{"subtask_index": 957, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the blue building block on the table with fingers open."}
+{"subtask_index": 958, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers to grasp the blue building block on the table."}
+{"subtask_index": 959, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes its fingers to grasp the blue building block placed on the grey surface."}
+{"subtask_index": 960, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the blue building block off the grey surface and transports it downward toward the green building block."}
+{"subtask_index": 961, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand aligns the blue building block with the green building block and presses to assemble them together."}
+{"subtask_index": 962, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand opens its fingers to release the blue building block and moves slightly away."}
+{"subtask_index": 963, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the orange building block on the table with fingers open."}
+{"subtask_index": 964, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers around the orange building block on the table and adjusts to form stable grip."}
+{"subtask_index": 965, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the orange building block from the table and transports it toward the stacked green and blue building blocks."}
+{"subtask_index": 966, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers to grasp the orange building block on the gray table surface."}
+{"subtask_index": 967, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift: Right hand lifts the grasped orange building block upwards from the table surface."}
+{"subtask_index": 968, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the orange building block as it slips from the grasp, the block falls back to the table surface."}
+{"subtask_index": 969, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the orange building block on the dark table surface."}
+{"subtask_index": 970, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers around the orange building block, making slight adjustments to stabilize the grip."}
+{"subtask_index": 971, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand opens fingers to release the orange building block."}
+{"subtask_index": 972, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts its fingers to grasp the orange building block on the table."}
+{"subtask_index": 973, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the grasped orange building block and moves it toward the blue building block."}
+{"subtask_index": 974, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand aligns the orange building block with the blue building block to attempt assembly."}
+{"subtask_index": 975, "subtask": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the orange building block and moves slightly away from the blocks."}
+{"subtask_index": 976, "subtask": "Left hand: other:slight_lift_move: Left hand lifts slightly and moves at the left side of the operation area without contacting any operating objects. | Right hand: reach: Right hand moves towards the orange building block on the black tabletop."}
+{"subtask_index": 977, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves towards the orange building block on the black tabletop."}
+{"subtask_index": 978, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers and adjusts contact position to grasp the orange building block."}
+{"subtask_index": 979, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: hold: Right hand holds the orange building block stably without moving."}
+{"subtask_index": 980, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts fingers to grasp the orange building block on the table."}
+{"subtask_index": 981, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the grasped orange building block downward to the position above the blue building block."}
+{"subtask_index": 982, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the orange building block onto the top of the blue building block."}
+{"subtask_index": 983, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the orange building block to fit it firmly with the blue building block."}
+{"subtask_index": 984, "subtask": "Left hand: return_home: Left hand moves empty back to its initial home position on the left side of the workspace. | Right hand: return_home: Right hand moves empty back to its initial home position on the right side of the workspace."}
+{"subtask_index": 985, "subtask": "Left hand: idle: Left hand remains empty and stationary at its left home position. | Right hand: return_home: Right hand moves empty back to its initial home position on the right side of the workspace."}
+{"subtask_index": 986, "subtask": "Left hand: idle: Left hand remains empty and stationary at its left home position. | Right hand: idle: Right hand remains empty and stationary at its right home position."}
+{"subtask_index": 987, "subtask": "Left hand: other:reposition_and_open_fingers: Left hand repositions from its initial neutral upright pose, rotates the wrist slightly upward, and opens its fingers from a closed to a spread posture while moving to a stable raised position on the left. | Right hand: reach: Right hand repositions from its initial neutral upright pose, moves downward toward the scattered building blocks on the black table surface, rotates the wrist slightly inward, and opens its fingers as it approaches the blocks."}
+{"subtask_index": 988, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand repositions from its initial neutral upright pose, moves downward toward the scattered building blocks on the black table surface, rotates the wrist slightly inward, and opens its fingers as it approaches the blocks."}
+{"subtask_index": 989, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its fingers around the small green 2x2 building block, makes small positional adjustments to align the fingers before closing them to form a stable grip on the block, which remains on the table surface."}
+{"subtask_index": 990, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped small green 2x2 block upward until the block is completely raised off the table surface."}
+{"subtask_index": 991, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted small green 2x2 block through the air, moving it downward and to the right toward the large green 2x4 building block on the table."}
+{"subtask_index": 992, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the small green 2x2 block onto the upper surface of the large green 2x4 block until the small block is stably supported by the large block."}
+{"subtask_index": 993, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: hold: Right hand maintains contact with the small green 2x2 block placed on the large green block, with no observable movement of the hand, fingers, or blocks."}
+{"subtask_index": 994, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts finger contact points on the small green brick, slightly moving and rotating the brick to adjust its position on the long green brick."}
+{"subtask_index": 995, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand releases the small green brick, fingers moving away from the brick surface to break contact."}
+{"subtask_index": 996, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the blue 2x2 lego brick on the dark flat surface with fingers held in an open posture."}
+{"subtask_index": 997, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand curls fingers around the blue 2x2 lego brick, making slight finger adjustments to form a stable grasp on the brick."}
+{"subtask_index": 998, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the stably grasped blue 2x2 lego brick upward until the brick is completely separated from the dark supporting surface."}
+{"subtask_index": 999, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the grasped blue 2x2 lego brick, moving it horizontally toward the nearby green lego bricks on the surface."}
+{"subtask_index": 1000, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand contacts the blue brick near the green brick on the table, adjusting fingers and wrist position to form a stable grasp while the brick stays on the table surface."}
+{"subtask_index": 1001, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped blue brick completely off the table surface, moving it horizontally rightward across the table toward the area next to the orange brick."}
+{"subtask_index": 1002, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the grasped blue brick down to the table surface, setting it stably on the right section of the table adjacent to the orange brick."}
+{"subtask_index": 1003, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the blue brick on the dark gray surface with fingers held open."}
+{"subtask_index": 1004, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts finger placement around the blue brick, slightly closing and repositioning fingers to form a grip on the brick."}
+{"subtask_index": 1005, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its fingers around the blue brick resting on the dark work surface to form a stable grip."}
+{"subtask_index": 1006, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand moves the stably grasped blue brick leftward across the dark work surface toward the green brick."}
+{"subtask_index": 1007, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand sets the blue brick into a stable supported position on the dark work surface adjacent to the green brick."}
+{"subtask_index": 1008, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the blue brick, breaking contact with the brick surface."}
+{"subtask_index": 1009, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the 2x2 orange lego brick placed on the dark table surface, with fingers held in a slightly open posture as it approaches the target brick."}
+{"subtask_index": 1010, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand curls its fingers around the 2x2 orange lego brick, making small adjustments to finger contact positions to establish a grip on the brick that remains resting on the table surface."}
+{"subtask_index": 1011, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand firmly holds the orange brick and moves it down-left toward the stacked green and blue bricks on the dark table surface, keeping the brick in the air."}
+{"subtask_index": 1012, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the orange brick to place it onto the top of the stacked green and blue bricks, until the brick is fully supported by the stack."}
+{"subtask_index": 1013, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand gradually opens all fingers to release the orange brick, slowly separating the fingers from the brick surface."}
+{"subtask_index": 1014, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: press: Right hand moves the index finger vertically downward to press the top surface of the placed orange brick, applying downward pressure."}
+{"subtask_index": 1015, "subtask": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: retreat: Right hand moves empty upward and rightward to retreat from the position of the stacked bricks."}
+{"subtask_index": 1016, "subtask": "Left hand: return_home: Left hand moves upward and outward empty-handed away from the colorful block stack at the center of the table, with fingers gradually adjusting to point upward, until it stops at its initial left resting position. | Right hand: return_home: Right hand moves upward and outward empty-handed away from the colorful block stack at the center of the table, with fingers gradually adjusting to point upward, until it stops at its initial right resting position."}
+{"subtask_index": 1017, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: idle: Right hand remains empty at the right upper initial position without active movement."}
+{"subtask_index": 1018, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the small light green lego block on the black table."}
+{"subtask_index": 1019, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand contacts the small light green lego block on the black table, fingers close and adjust position to establish a grasp on the block."}
+{"subtask_index": 1020, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves toward the small flat lego brick on the dark gray work surface, with fingers slightly extended, approaching the brick without stable contact."}
+{"subtask_index": 1021, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the edge of the flat lego brick, adjusting finger contact to establish initial grip on the brick resting on the surface."}
+{"subtask_index": 1022, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: hold: Right hand holds the edge of the flat lego brick on the dark gray surface without any observable movement of the hand, fingers or the brick."}
+{"subtask_index": 1023, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and wrist angle slightly on the lego brick, repositioning contact points to secure a stable grip for moving the brick."}
+{"subtask_index": 1024, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reorient: Right hand grips the lego brick, lifts it slightly off the surface, rotates it about 90 degrees to adjust it to an upright orientation while keeping it in roughly the same horizontal position."}
+{"subtask_index": 1025, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: place: Right hand lowers the rotated lego brick down to the dark gray surface, setting the brick to rest stably in an upright position on the surface."}
+{"subtask_index": 1026, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release_retreat: Right hand opens fingers to release the upright lego brick supported on the surface, moving slightly upward away from the brick with an empty hand."}
+{"subtask_index": 1027, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves left toward the upright small light green lego brick with open fingers, not yet making contact with the brick."}
+{"subtask_index": 1028, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the upright small light green lego brick, making slight grip adjustments while the brick stays on the dark gray supporting surface."}
+{"subtask_index": 1029, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the small light green lego brick fully off the dark gray surface and moves it rightward to the position directly above the large light green lego brick, rotating the brick to a flat orientation during movement."}
+{"subtask_index": 1030, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: place: Right hand lowers the small light green lego brick onto the top surface of the large light green lego brick until the small brick is stably supported by the larger brick."}
+{"subtask_index": 1031, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger contact points and grip on the small light green brick on the larger light green plate, slightly shifting the brick closer to the blue block via small wrist movements."}
+{"subtask_index": 1032, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: hold: Right hand holds the small light green brick steady in its adjusted position on the larger plate without movement."}
+{"subtask_index": 1033, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release: Right hand opens fingers and lifts upward, releasing contact with the small light green brick."}
+{"subtask_index": 1034, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves left toward the dark blue lego brick placed on the dark gray work surface."}
+{"subtask_index": 1035, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions around the dark blue lego brick, closing fingers to establish and stabilize contact with the brick which remains on the work surface."}
+{"subtask_index": 1036, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand makes subtle finger and wrist adjustments to establish a stable grasp on the dark blue lego brick placed on the dark table surface."}
+{"subtask_index": 1037, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: lift: Right hand lifts the stably grasped dark blue lego brick vertically upward until it is completely lifted off the table surface."}
+{"subtask_index": 1038, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: transport: Right hand transports the lifted dark blue lego brick rightward through the air to the position directly above the light green lego brick."}
+{"subtask_index": 1039, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: mate: Right hand aligns the dark blue lego brick with the connection points on the light green lego brick, lowers and presses the dark blue brick to attach it to the light green brick."}
+{"subtask_index": 1040, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach_press: Right hand moves toward the top surface of the dark blue brick stacked on the light green brick, contacts the surface and exerts vertical downward force to press the brick."}
+{"subtask_index": 1041, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: retreat: Right hand moves upward and away from the stacked bricks, retreating from the pressing position with empty fingers."}
+{"subtask_index": 1042, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves leftward toward the small orange lego brick on the dark table surface, with fingers held in a slightly open posture."}
+{"subtask_index": 1043, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the small orange lego brick, adjusting finger positions slightly to attempt closing around the brick."}
+{"subtask_index": 1044, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the small orange lego brick, which falls downward away from the hand."}
+{"subtask_index": 1045, "subtask": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: idle: Right hand remains empty above the original position of the orange lego brick without any visible movement."}
+{"subtask_index": 1046, "subtask": "Left hand: return_home: Left hand remains empty, moves upward and rotates slightly to return to the forward-facing initial home position, with fingers gradually adjusting to a relaxed aligned posture. | Right hand: return_home: Right hand remains empty, moves upward and rotates slightly to return to the forward-facing initial home position, with fingers gradually extending and adjusting to a relaxed aligned posture."}
+{"subtask_index": 1047, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and left toward the small green block on the left side of the table."}
+{"subtask_index": 1048, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the small green block on the table."}
+{"subtask_index": 1049, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers and makes slight grip adjustments to grasp the small green block on the black table surface."}
+{"subtask_index": 1050, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped small green block off the black supporting surface."}
+{"subtask_index": 1051, "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 rightward above the larger green block."}
+{"subtask_index": 1052, "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 onto the larger green block."}
+{"subtask_index": 1053, "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 downward to stack it firmly on the larger green block placed on the mat."}
+{"subtask_index": 1054, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the small green block stacked on the larger green block without moving."}
+{"subtask_index": 1055, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand closes fingers to grasp the green block on the table then releases the green block."}
+{"subtask_index": 1056, "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 blue block placed on the dark table surface."}
+{"subtask_index": 1057, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the blue block on the table."}
+{"subtask_index": 1058, "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 up from the table surface."}
+{"subtask_index": 1059, "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 rightward to the position above the green block."}
+{"subtask_index": 1060, "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 onto the top of the stacked green block."}
+{"subtask_index": 1061, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the blue block on top of the green block without moving."}
+{"subtask_index": 1062, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the blue block and moves away slightly."}
+{"subtask_index": 1063, "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 close around the orange block on the table to form a grip."}
+{"subtask_index": 1064, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the orange block on the table without moving."}
+{"subtask_index": 1065, "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 re-grasp the orange block on the table to form a stable grip."}
+{"subtask_index": 1066, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped orange block leftward to the position above the green block."}
+{"subtask_index": 1067, "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, with fingers separating from the block."}
+{"subtask_index": 1068, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the fallen orange block on the table."}
+{"subtask_index": 1069, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the fallen orange block, fingers adjust to form a stable grip."}
+{"subtask_index": 1070, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the orange block to adjust its orientation to an upright position."}
+{"subtask_index": 1071, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the upright orange block toward the stacked green and blue blocks on the table."}
+{"subtask_index": 1072, "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, fingers open to separate from the block surface."}
+{"subtask_index": 1073, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the orange block without moving."}
+{"subtask_index": 1074, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the orange block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1075, "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 orange block from the table and transports it leftward to the position above the blue block."}
+{"subtask_index": 1076, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the top surface of the blue block."}
+{"subtask_index": 1077, "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 by opening its fingers."}
+{"subtask_index": 1078, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses down on the orange block to secure it onto the blue block."}
+{"subtask_index": 1079, "subtask": "Left hand: other:raise_and_extend_fingers: Left hand rises slightly at the upper left of the frame, with fingers extending to an open position. | Right hand: other:raise_and_extend_fingers: Right hand rises slightly at the upper right of the frame, with fingers extending to an open position."}
+{"subtask_index": 1080, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: other:raise_and_extend_fingers: Right hand rises slightly at the upper right of the frame, with fingers extending to an open position."}
+{"subtask_index": 1081, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves downward toward the blue building block on the black table surface, remaining empty without contacting the block."}
+{"subtask_index": 1082, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves downward toward the small light green 2x2 lego block on the dark work surface, with fingers slightly extended."}
+{"subtask_index": 1083, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand gradually curls its fingers around the small light green 2x2 lego block, making subtle positional adjustments to establish contact with the block while the block remains on the supporting surface."}
+{"subtask_index": 1084, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: transport: Right hand holds the small light green lego block and moves it downward toward the larger light green lego block resting on the dark flat surface."}
+{"subtask_index": 1085, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand adjusts the position and orientation of the small light green lego block to align its connection points with those on the larger light green lego block below."}
+{"subtask_index": 1086, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: press: Right hand applies downward pressure on the top surface of the small light green lego block to secure it to the larger light green lego block."}
+{"subtask_index": 1087, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}
+{"subtask_index": 1088, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves from the green lego block position toward the blue 2x2 lego block with empty hand, approaching the target."}
+{"subtask_index": 1089, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand contacts the blue 2x2 lego block, closes fingers and makes slight adjustments to establish a firm grip on the block."}
+{"subtask_index": 1090, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: lift_transport: Right hand holds the blue lego block, lifts it from the dark flat surface and moves it leftward toward the green lego block."}
+{"subtask_index": 1091, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand adjusts the position of the held blue lego block to align it flush against the adjacent side of the green lego block."}
+{"subtask_index": 1092, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves rightward toward the orange 2x2 lego block on the dark flat surface, with fingers held in a slightly open position."}
+{"subtask_index": 1093, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand curls its fingers to close around the orange 2x2 lego block, making minor adjustments to form contact with the block which remains on the dark surface."}
+{"subtask_index": 1094, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reorient: Right hand holds the orange lego block and rotates it about half a turn to flip its orientation, with minimal positional change over the dark table surface."}
+{"subtask_index": 1095, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: hold: Right hand holds the flipped orange lego block steadily on the dark table surface without visible movement of the hand or the block."}
+{"subtask_index": 1096, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: lift_transport: Right hand lifts the orange lego block off the dark supporting surface and transports it leftward toward the stacked green and blue lego assembly."}
+{"subtask_index": 1097, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand makes minor positional adjustments to align the held orange lego block and mates it onto the top of the stacked lego assembly."}
+{"subtask_index": 1098, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: release: Right hand opens its fingers to release the mated orange lego block on top of the stacked lego assembly."}
+{"subtask_index": 1099, "subtask": "Left hand: return_home: Left hand moves downward from the upper left resting position to the left home position, with fingers spreading from a closed extended state to a natural relaxed state, and stops steadily at the home position. | Right hand: retreat: Right hand moves upward away from the lego stack on the dark table surface, with fingers gradually spreading open during the upward movement."}
+{"subtask_index": 1100, "subtask": "Left hand: return_home: Left hand moves downward from the upper left resting position to the left home position, with fingers spreading from a closed extended state to a natural relaxed state, and stops steadily at the home position. | Right hand: return_home: Right hand moves downward from the upper right area to the right home position, adjusting wrist and finger posture, and stops steadily at the home position."}
+{"subtask_index": 1101, "subtask": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: idle: Right hand remains empty in the upper right resting position with fingers extended, showing no obvious movement toward the lego bricks."}
+{"subtask_index": 1102, "subtask": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward toward the small bright green 2x2 lego brick on the black table surface, with fingers slightly curved as it approaches the target."}
+{"subtask_index": 1103, "subtask": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts fingers around the small bright green 2x2 lego brick, making contact with the brick that stays on the table to begin forming a stable grasp."}
+{"subtask_index": 1104, "subtask": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger contact positions and closes its fingers around the small bright green 2x2 lego brick resting on the dark flat supporting surface to establish a stable grip."}
+{"subtask_index": 1105, "subtask": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped small bright green 2x2 lego brick completely off the supporting surface and moves it toward the adjacent green lego pieces."}
+{"subtask_index": 1106, "subtask": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the small bright green 2x2 lego brick resting on the larger green lego brick, making continuous fine adjustments to the brick's position via slight finger and wrist movements."}
+{"subtask_index": 1107, "subtask": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand opens fingers to release the small bright green 2x2 lego brick, lifting fingers away from the brick surface."}
+{"subtask_index": 1108, "subtask": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves leftward while empty from the position above the stacked green bricks, approaching the blue 2x2 brick on the dark supporting surface."}
+{"subtask_index": 1109, "subtask": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the blue 2x2 brick, making small adjustments to finger positions to establish a stable grasp while the brick stays on the supporting surface."}
+{"subtask_index": 1110, "subtask": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: lift: Right hand holds the grasped blue 2x2 brick and moves upward, lifting the brick completely off the dark supporting surface."}
+{"subtask_index": 1111, "subtask": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: transport: Right hand holds the grasped blue 2x2 lego brick and moves it rightward and downward to the position directly above the green 2x2 lego brick on the dark surface."}
+{"subtask_index": 1112, "subtask": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: place: Right hand lowers the blue 2x2 lego brick onto the top of the green lego brick, making slight positional adjustments to align the bricks while maintaining a firm grip."}
+{"subtask_index": 1113, "subtask": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves empty rightward and slightly upward away from the stacked green and blue lego bricks, approaching the small orange 2x2 lego brick on the dark gray work surface."}
+{"subtask_index": 1114, "subtask": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the orange 2x2 lego brick, making contact with the brick surface to form a grip."}
+{"subtask_index": 1115, "subtask": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: transport_place: Right hand holds the grasped orange 2x2 lego brick, moves it leftward through the air and places it onto the top surface of the blue lego brick on the stacked structure."}
+{"subtask_index": 1116, "subtask": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: mate: Right hand adjusts the position of the orange lego brick to align its connection points with the blue lego brick below to form an assembled fit."}
+{"subtask_index": 1117, "subtask": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: hold: Right hand holds the aligned orange lego brick steadily on top of the blue lego brick without movement."}
+{"subtask_index": 1118, "subtask": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the orange lego brick."}
+{"subtask_index": 1119, "subtask": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the orange lego brick to secure the assembled lego structure."}
+{"subtask_index": 1120, "subtask": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand opens fingers to release contact with the top of the stacked lego blocks, fully separating from the lego stack."}
+{"subtask_index": 1121, "subtask": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: return_home: Right hand moves empty upward and backward away from the lego stack, adjusting finger posture gradually until stopping stably at the right home position."}
+{"subtask_index": 1122, "subtask": "Left hand: other:move_upward: Left hand moves upward to the left side of the table. | Right hand: reach: Right hand moves forward and downward toward the blue block on the table."}
+{"subtask_index": 1123, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward and downward toward the blue block on the table."}
+{"subtask_index": 1124, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the small green block on the black table surface."}
+{"subtask_index": 1125, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the small green block, adjusting fingers to form a stable grip."}
+{"subtask_index": 1126, "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 small green block off the table and transports it above the larger green block."}
+{"subtask_index": 1127, "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 onto the larger green block on the table."}
+{"subtask_index": 1128, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green building block on the table surface downward."}
+{"subtask_index": 1129, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand lifts fingers and moves away from the green building block."}
+{"subtask_index": 1130, "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 green block on the table."}
+{"subtask_index": 1131, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand contacts the green block, adjusts fingers on the block surface, and lifts fingers away from the block."}
+{"subtask_index": 1132, "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 blue block placed on the table."}
+{"subtask_index": 1133, "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 blue block."}
+{"subtask_index": 1134, "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 upwards away from the table surface."}
+{"subtask_index": 1135, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the blue block and transports it toward the green block on the table."}
+{"subtask_index": 1136, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the green block to fit them together."}
+{"subtask_index": 1137, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the assembled blue and green blocks without moving."}
+{"subtask_index": 1138, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the orange block with the blue block on the green base."}
+{"subtask_index": 1139, "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 blue block."}
+{"subtask_index": 1140, "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 blue block."}
+{"subtask_index": 1141, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block to the area next to the green base."}
+{"subtask_index": 1142, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the table surface."}
+{"subtask_index": 1143, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip to grasp the orange block placed on the dark table."}
+{"subtask_index": 1144, "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 away from the dark table surface."}
+{"subtask_index": 1145, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block above the stacked green and blue blocks."}
+{"subtask_index": 1146, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the orange block with the stacked green and blue blocks by aligning and pressing it into place."}
+{"subtask_index": 1147, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the blue block on top of the stacked blocks placed on the table."}
+{"subtask_index": 1148, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the stacked blocks."}
+{"subtask_index": 1149, "subtask": "Left hand: other:move_upper_left: Left hand moves empty upward and slightly left to the upper left position above the black table. | Right hand: other:move_upper_right: Right hand moves empty upward to the upper right position above the black table."}
+{"subtask_index": 1150, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: other:move_upper_right: Right hand moves empty upward to the upper right position above the black table."}
+{"subtask_index": 1151, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves empty downward toward the small green 2-stud block resting on the table."}
+{"subtask_index": 1152, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand curls fingers to close around the small green block, adjusting finger positions to form a grasp."}
+{"subtask_index": 1153, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand adjusts finger positions and closes around the small lime green lego block resting on the dark work surface to establish a stable grip."}
+{"subtask_index": 1154, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift: Right hand lifts the grasped small lime green lego block upward until the block fully leaves the dark work surface."}
+{"subtask_index": 1155, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: transport: Right hand carries the grasped small lime green lego block, moving it horizontally across the workspace."}
+{"subtask_index": 1156, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: place: Right hand lowers the grasped small lime green lego block downward until the block rests stably on the dark work surface."}
+{"subtask_index": 1157, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the small lime green lego block, separating the fingers from the block."}
+{"subtask_index": 1158, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: idle: Right hand remains empty next to the small lime green lego block on the work surface without moving."}
+{"subtask_index": 1159, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_grasp: Right hand moves fingers to the small lime green lego block, closes fingers around the block to re-establish a stable grip."}
+{"subtask_index": 1160, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift_transport: Right hand lifts the small lime green lego block off the dark work surface, moves it to the larger green lego block, sets the block on the larger block's surface."}
+{"subtask_index": 1161, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: hold: Right hand holds the small lime green lego block stably on top of the larger green lego block without any movement."}
+{"subtask_index": 1162, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the small lime green lego block resting on the dark flat surface, lifting fingers away from the block."}
+{"subtask_index": 1163, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_press: Right hand moves its index finger to the top surface of the small lime green lego block, presses down slightly and makes small positional adjustments to the block on the dark surface."}
+{"subtask_index": 1164, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: retreat: Right hand lifts its index finger off the small lime green lego block and retreats slightly away from the block."}
+{"subtask_index": 1165, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves leftward with slightly open fingers, approaching the blue lego block resting on the dark table."}
+{"subtask_index": 1166, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand closes fingers around the blue lego block, making small grip adjustments while the block stays on the table surface."}
+{"subtask_index": 1167, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift: Right hand lifts the grasped blue lego block upward, completely separating the block from the dark table surface."}
+{"subtask_index": 1168, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: transport_place: Right hand carries the grasped blue lego block rightward and downward, placing it onto the top surface of the nearby green lego block."}
+{"subtask_index": 1169, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: hold: Right hand holds the blue lego block steady on top of the green lego block with no visible movement of the hand or blocks."}
+{"subtask_index": 1170, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the blue lego block stacked on top of the green and yellow lego piece."}
+{"subtask_index": 1171, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves empty fingers slightly toward the released blue lego block on the dark gray surface."}
+{"subtask_index": 1172, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: other:tap_and_adjust: Right hand contacts the blue lego block, taps it and slightly adjusts its position on the surface."}
+{"subtask_index": 1173, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves rightward toward the orange lego block on the dark table surface, with fingers held open."}
+{"subtask_index": 1174, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand closes fingers around the orange lego block on the dark table surface, making small adjustments to finger positions to secure the grip."}
+{"subtask_index": 1175, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: place: Right hand grips the orange lego block, lifts it from the table surface, moves it leftward over the blue lego block, and lowers it to rest on top of the blue lego block."}
+{"subtask_index": 1176, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand makes slight finger adjustments to its grip on the orange lego block resting on the blue lego block to stabilize contact with the block."}
+{"subtask_index": 1177, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens its fingers gradually to release the orange lego block, fully separating from the block by the end of the segment."}
+{"subtask_index": 1178, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: retreat: Right hand moves empty away from the lego stack, retreating to the right side of the orange lego block."}
+{"subtask_index": 1179, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_press: Right hand moves empty leftward toward the top surface of the orange lego block and presses down on the block's top surface with fingers applying vertical downward pressure."}
+{"subtask_index": 1180, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand releases the stacked lego block resting on the dark gray table, opening fingers to break contact with the orange top section of the block."}
+{"subtask_index": 1181, "subtask": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: return_home: Right hand remains empty, moves downward from the area adjacent to the lego block to the lower right home position, and comes to a stable stop."}
+{"subtask_index": 1182, "subtask": "Left hand: return_home: Left hand remains empty, moves downward from the upper left position to the lower left home position with slight wrist rotation, and comes to a stable stop at the home position. | Right hand: return_home: Right hand remains empty, moves downward from the area adjacent to the lego block to the lower right home position, and comes to a stable stop."}
+{"subtask_index": 1183, "subtask": "Left hand: other:rise_slightly_upward: Left hand rises slightly upward at the left side of the black table with fingers extended, keeping empty and not contacting any object."}
+{"subtask_index": 1184, "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 2-stud brick on the dark flat surface."}
+{"subtask_index": 1185, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green 2-stud brick on the dark flat surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1186, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green 2-stud brick on the dark surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1187, "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 2-stud brick off the dark surface and moves it rightward to the position above another green brick."}
+{"subtask_index": 1188, "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 2-stud brick onto the upper surface of the lower green brick until it is supported."}
+{"subtask_index": 1189, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the small green 2-stud brick on the lower green brick without moving."}
+{"subtask_index": 1190, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its grip on the small green 2-stud brick, with fingers slightly closing and repositioning on the brick surface."}
+{"subtask_index": 1191, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: push: Right hand pushes the small green 2-stud brick leftward on the dark flat surface, with the brick remaining in contact with the surface during movement."}
+{"subtask_index": 1192, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves leftward and upward from above the green brick toward the blue brick."}
+{"subtask_index": 1193, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue brick on the dark surface, with fingers closing to adjust the grip."}
+{"subtask_index": 1194, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue dice on the table, with fingers closing and making slight adjustments to stabilize the grip."}
+{"subtask_index": 1195, "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 blue dice from the table and transports it rightward above the green block."}
+{"subtask_index": 1196, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place: Right hand places the blue dice onto the green block."}
+{"subtask_index": 1197, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand holds the blue dice and aligns it with the green brick assembly on the dark surface."}
+{"subtask_index": 1198, "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 dice, with fingers opening and separating from the dice."}
+{"subtask_index": 1199, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves upward away from the blue dice as an empty hand."}
+{"subtask_index": 1200, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach_grasp: Right hand reaches toward the blue dice and grasps it with fingers closing around the dice."}
+{"subtask_index": 1201, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the blue dice to align with the green brick assembly on the dark surface."}
+{"subtask_index": 1202, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves backward and upward away from the blue dice as an empty hand."}
+{"subtask_index": 1203, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves leftward and upward toward the orange brick on the dark working surface with fingers open."}
+{"subtask_index": 1204, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange brick on the dark working surface, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1205, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange 2x2 brick on the table, with fingers closing to form a stable grip."}
+{"subtask_index": 1206, "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 orange 2x2 brick off the table and transports it leftward to the position above the green-blue stacked brick."}
+{"subtask_index": 1207, "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 2x2 brick onto the green-blue stacked brick on the table."}
+{"subtask_index": 1208, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand mates the orange 2x2 brick with the green brick beneath it."}
+{"subtask_index": 1209, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the orange 2x2 brick to align it with the blue brick below for assembly."}
+{"subtask_index": 1210, "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 2x2 brick downward onto the blue brick to secure the assembly."}
+{"subtask_index": 1211, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release_retreat: Right hand releases the orange 2x2 brick and retreats upward away from the brick stack."}
+{"subtask_index": 1212, "subtask": "Left hand: return_home: Left hand moves leftward from the area near the stacked colorful building blocks on the table and stops at the left home position. | Right hand: return_home: Right hand moves rightward from the area near the stacked colorful building blocks on the table and stops at the right home position."}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/tasks.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..160b4703b02e831da05b0c34b983510ba157d7d1
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: stack_blocks"}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/v40_validation.json b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..31b32e233aea0d38c584eb7561b848bccb19f62a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 40,
+  "frames": 66777,
+  "video_frames": {
+    "observation.images.head_left": 66777,
+    "observation.images.wrist_left": 66777,
+    "observation.images.wrist_right": 66777,
+    "observation.images.head_right": 66777,
+    "observation.images.tactile_deform": 66777,
+    "observation.images.tactile_raw": 66777
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 40
+}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..624abdf63e6ea365a171e7c8c8ed00588d25884d
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c86fabe30f3a3734110619c79b3786ef67505d24f7f8ac7ea6357dfe95f3620c
+size 38911126
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..595308cd57bc56c37cbbf36aca7f91b5b0f0fa92
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b29a2fa150df35f659b680d6add5f8006cfc48295c983d0fd9397d866d8817cc
+size 35558425
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f3b3b1165ea42f6036f8f9ff32866830fca63a63
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:664fc4e2908bcbe2d01ded5e3349f9dca8f5b1c47bb59822304f33324cd8473d
+size 35160085
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000003.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0af961eb25f7ac27988ca916fe827f42ab90983f
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50c3cea96a6769adf5b51c3b05eee2dbb0ea3449c74af1eb350ba0f5273edd21
+size 70985334
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000004.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf418c537f0c73d4d431fb5ee24d348ff1e10a40
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f79a362363c832002d90c0d86fb2e87834eabf5defdac635588af38b426d370
+size 35625198
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000005.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9db91a6f1007950f7e17376af11dbb5492b138b6
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83007660190e411fe0e04a2249bdbe1c43b0fd1e7a35dcf8d54d7e7f6057b31e
+size 35023591
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000006.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2881d58dcc0e78f628da5bcf30c4a0c9d0452397
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4372eb10a92b067d78047ce3c81f9e146bb9adde804391f92dc1d2d32a8250f6
+size 25402044
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000007.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad15b9b12204127c3264e0a0343c691cce29a13a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e38c0810964f6df4aa32c8259dc899d3bd067062714116f592cd388d12a8d05c
+size 36496290
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000008.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f181852cc76b17a91d67143feef6f2aeb3f47bf
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f863de696d7fb789f8b1ef7174e522568cf3073baf88cbc7f0d133a3867bfebb
+size 25102976
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000009.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..abd632e7f53dc28e919c09c353f4878499e2e8b6
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c3815882e99ec4490b96eae8356676e1968c39719c597f640da2e1bd1cb1f5c
+size 23604325
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000010.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..26f078fc1a000d31e27e22f32e1e6329a267a2be
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adac9997994255e99b8aebeb9b0e4d63ae733383909e0b4a0b5d3bc17860ab23
+size 39058032
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000011.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7efc91642467e6f5460836d7cb0a0c0ce254b4b2
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a67f6976c2104c3a9c4db85a2013216dd0d249498fc0ed910881307da3056e7
+size 20225715
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000012.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..143210f11b28a85657f8f96056b1c372252ba564
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53788f4964703142212ef27d6966e9d731a0bea2a40edfec27adedf6d5186d8b
+size 26835943
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000013.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4bc9db97415b2bd0a6a0d930e3dcadccb625446
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc007b35b8aad4c225f3dd97989c91022bbaf8a960564a7fbd6cac336f172b5c
+size 41606307
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000014.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a7186b6106de56832d90abffa78c2bd2366779c4
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bc8bb635ee3a11fa466e97ad65b045b6f1c45682032da4d28f195a8b154fdd2
+size 47254588
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000015.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..180d6eb8f0fb96df3781d80499b0bb4fb6d2b5c5
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef0125f130f9e1c3cc6b91cf03a6586b27002024dadff5e1f10a5f1d3401d9e6
+size 55260460
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000016.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..773777b80defadd0e03533c720ec7abb075153eb
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bb900da9aa5d404e5d78c70a4c1c3a73d9584a91d3a2a8e072347e0768eaca4
+size 29651035
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000017.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..98420ca28f8c929ec4d9ca44f2d0875bfe77d830
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:191691b99b25bc324e4e96d97fd6cf83fcb64daa33860725ff3b4cde6aa020ec
+size 34525020
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000018.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a63db63ad92ca63ea326c0f97593200629b2b1a6
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60929b8b2da62b57b1b82f73db114061b818ed665acef5cdaf1608c1bec391f2
+size 34242539
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000019.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2dd51f404cb37933313a3414ba6a7e732f04a01c
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55981212f995391f9f289247e39604af238df524881d5e3a116b8a207cf6bfbd
+size 25470177
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000020.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d19cb217c479adc988c9589fb0e569b2ba0ca56
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c95522a6601d4891df61bc469a630274448712ece87fbc63296dfff4d7de6f3a
+size 39224495
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000021.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91bfe82f219335a97cf0bfb4e2f7a197ade947f4
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:995901125e79f590b23367f574c23eb16fe6beaf6138594d81c9e750e0a0ad5a
+size 32803291
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000022.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e933c58e2b66f340ee110672879b022e45523dc0
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e86d716e3d36a6cb89631af6cac5a2e841aef827b28dbe76f5de535b36a7be39
+size 24870936
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000023.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b11f210383862605e014397344e09f5ca783a305
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:373df23d1873079489f98bc3317fb4e484a0543d9107e708c420d57d5c8c786d
+size 38732987
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000024.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c406468bb5f2d6168cd978cb239e03407ce2bc6
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9be96242b99ee14c12a2ac2397516dfa8247c6d057dafd4f88b1781a83d42a1
+size 37409455
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000025.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..49dc04d2feaaf215a5eedaf6de9a7bbebfb01b8f
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d19424d008b921953be49d4569a3ef3bf3252eea89b9a961ab45b6345dd93d0c
+size 29167134
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000026.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..60e8f00ee27121abf31589d718789d8af2dfd3d5
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:408f2886863ffacbac896aa26ddd4efcdf4ecf6a84ef4df461f4dc42f91742b6
+size 26327452
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000027.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8f7e10008f23ff834c37215f464ea07bb7ed33ea
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0170e27ea3e541589a4047366279ae152fa076e7d5f991ad80696d3584202ce
+size 70083228
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000028.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d86e0bbf932749638ecfc97cef573108f28aa35
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74f244766b09e4d42f759e89983912a13ab89fbfdbc932dabce9085f36627872
+size 58253461
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000029.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ead7f553fa3faa5eed8b0eaa4c4c3eb9fa56743
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41f1e4c79c004226d4a3000e5fad2f813540bbdef2bc6dd02ed45d566306302c
+size 52568669
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000030.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e6c4e3d04477226a7fc40f8a9d132f79178d685f
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37adc7edd29f41ba67567b0c09191edf929240ad0a7243aca084d320dd307da9
+size 50658399
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000031.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9ef44dd455079dbd8fb50a227def139b347e9cf2
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdcf0cae6d12a433cbfd1eb02b5cacf64ecc2dc692854d00a184cd61f98e88f4
+size 53855129
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000032.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8bf53d16cda53386d4ed8c5bc4d8b3a1efab3676
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6578a4fddbeb55a8c529ad00e3097d0c2b765bf02a43ffc11d21cb52b2e09e4d
+size 32350533
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000033.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..39f5df616d1aee7dca0fa23db29c0f25936eb3d2
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da1a1d5993891fddc5f51565e88c07441f10562d062338feddac8206189dbaaa
+size 45733353
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000034.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c6c8293cc36d24eb212211d50554326c6c50913a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a50c5b4a14f069eef47fa9ea61d0eafca1209e1d572f33e5d2fa6c347744e40
+size 55326572
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000035.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a168e51980a0cb84c3e9aa9fcfa9effd46f75bb
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000035.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2de893def7644140662a363796361e4796eedce042661d050daa0551966dbdcf
+size 32951278
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000036.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000036.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9cf1a1a0af92b58ffff114c27a248f5db152b0f7
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000036.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3d1e72bb1cb95d8e37af6805ca283899e868deffceabbc6f9d2f14b85c10995
+size 27480634
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000037.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000037.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9806d14fbe5382522af31afe83b98ad9c5b00ddd
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000037.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00a08af59e5fbae0bca48c006daff0549bb9561cf11a6f1b69ecf3a3b553d345
+size 32523584
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000038.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000038.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4859dfbf3f11991f11cab420f51074fb814b3f4a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000038.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6426f643a0de06c92f10f428f3132d2f9654aeeaba7cc03460004c1006b95783
+size 31093389
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000039.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000039.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ddd401b526bde50c46455a5fed1559b35222f03a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000039.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f865099767ab264f19bef838b1501126d2391722740375151d9a1a9adf391f36
+size 27805402
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000000.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..05dfefdf409f4f8848058d75ee9d446ddd939bc1
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53dfdd06dd170906f44256a356b971336f2031564c5a25d39e66c3f5eabefeb0
+size 37956890
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000001.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..88700828ca98329ab9d72155359c7deebfc890d6
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08c4c8f2a31a735dab496e99c5ff05c8ea020cd29ef4dea41c04315100776dc2
+size 34772983
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000002.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dcc0e4dd4a1cc5649442633910636942e93328e8
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daeb987523bfe573bb526723b9412912965c5aca76f5a607c58eb7aba8c121a3
+size 33949268
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000003.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..53408a2713dac59b0312ba49eced64b47a857767
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a81b6137ef14ca3240e4cb87ffdfd0dc21cdeba26a9f75d0cfb358e86e2c2f44
+size 69777430
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000004.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..765311a174ad816a0b0e7004aad27aae9da15a98
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b72f07f7188599c39f26676c1203746a0d7fe8ff4a5dd84e2b642f4f98d7179c
+size 34805847
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000005.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4db626214c3c35d1d5cff931e31bfa9ec1001de7
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b412708552173196a50a638abbcf949b1530bc6e20bedc7fee9515edaea65fc8
+size 34509442
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000006.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dcbe8096def8f9e93b0006c2e7f5ae7614c041b2
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad67e07721d0d70a4d90c7e77124c764dd74022a0e6c6def98594510261fd902
+size 24699153
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000007.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7da968c8c331e0249ad2a757253b647a0f1f002
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:739d125f2348cf3d2b69f4df8f42ba03e20d906f02ae189107afb6013a24bd7a
+size 35828430
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000008.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db6589c3ccd59be0fe3e644f2e45c16612b9ddb4
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c70512619d4e49b96d4e42275d781688c4601181303739895e33390f356d682e
+size 24557940
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000009.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ff719d95faf61f77edd3ebab43f1aba7b91521a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b87bf11784d6cee2b0e221a180b14a7567b08f231c8001d8ade630a0e4f739c
+size 22771295
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000010.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..01a986187fe4c25c343f89b749753d7965be9fde
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b7b9fffe66015cec1110c51d636a6efb551e97d2b27d7708b395bd9f4e01fb9
+size 38020059
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000011.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d7b478a6cf03e67b790e89dd69ee851593cdfa6c
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72d57f36d3f0005ef91800634f240e0c7c0a3665db7875fafc444b4a514bb3b6
+size 20119671
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000012.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f576a5cb21672c2e1d998eaca41f68b5b0f273c1
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21ce3c3b13feab810435f170243cec9145f51295163b1b9378fcc58c42a0f315
+size 26505770
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000013.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed527c529e80037f57a06495a034286ab58665c0
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7206bb4e1b2466e04194801166e79561ad10f1fa8c5297093adc8ff70c0b450
+size 39675325
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000014.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3336144d4349de07bbd749041e75f82e8ad77728
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12039818d66a541677ca85556c2d0e696142d3bca54442e4d818886c4e2a27ff
+size 46002087
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000015.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..79c99de177e57222a6ef2ce1f784fce2054a5944
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3172bd5272464849ebc11cc724dc79d6d100b0f6aa13e4a603b6268711e1f66a
+size 54139516
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000016.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..28b38b8f3111f5267da432586bbf8a5cc1028f8a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6890ddb7d86b4d4161cbeed829f33deded00e742c5962b3a5f88fb43d0125f29
+size 28906410
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000017.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a32dec9ca5e6c9fa776e57046a31072e7d5fdd2
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fc4e87b2fb24ae34857c20d049de253446ba3fcaf50b45dc9c40fddae942b99
+size 33262257
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000018.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d72bd03ea2250d7b9b51601c7eb71f964e5b7af8
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fb69eb820dc190d72cc81d5e4b47457c8646592f8642da91ec4aa877e513d27
+size 33429236
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000019.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3bd480e02a824cbd9851f897eb5419603d2e47db
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d062e2d7598a7ddb87282f4cfb89c0f4194c920dee944206918111cbd1af566
+size 24877615
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000020.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..707b7062b241a2c0ca2fd57caab333fe915bdb06
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a87ce348de189d1b8a5a1ca6c48f8b370dfd93f30f64dfd326b2b4df72834349
+size 37663667
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000021.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d44362afc785423105ea4531a9cb30c3eee497fc
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba93f1ad2cc2e3e8639d143c26a2bca5b9ef6e1085ab954f477cc733aef1fb1f
+size 31890189
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000022.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..09f5a94a924532660b8959c922cec6be48592458
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7af5c6df21fc68b35f4e563b3fb930103171427034ae2bd9f9327c7c92a7ca5
+size 24003490
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000023.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..402ffba15a29283a9f2f800ed38429373423295c
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28aef825742c4877f570217c9e676a9131f0377470236a8057ab66aaf173044f
+size 36699492
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000024.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c9e39fc90b2120513fef281bf1841362aee68302
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36aa99e2fe982b4d4234b3fa68460d4fb7aaef3a2d2774b56f99c44c15878763
+size 35933584
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000025.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e6d1a21523a25c0ebe4afe0430c759f6d6c9aaab
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:016a90fc3021ff6ce83d5ee25d78e0da3f67a617b8783624fd59343185d91afc
+size 27935351
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000026.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..60b1dd9c1458cafdf911d996ecbe161e770296e3
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ec5a8bb15bbf20fadff9855f22453fef503eead0cb480a0dcd7dc3d2cc1a746
+size 25142981
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000027.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4664bb3b81ea2f14e52ac9c1de07a773f82d848d
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a28cead99e9a4c61c55495f6e42b80d206d2107728de014e030ca8dbc1f1f2e
+size 66731953
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000028.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6613413e6771987d98963ca30d7e09ecd52a3da3
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1929f65139dfe242eb762e7483d3098303f539d8be7e10ad81cb368333da3f25
+size 56686261
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000029.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..52cbc46f2baeebb93313d15c39c5627dfeedfa94
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4027481453f07e6298107d488f814f82eb801c99b44d174ba2e611392a9e736
+size 51004438
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000030.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d396e6d77066bdee7176b0da55b4b69ef0760615
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f38ae5362f8cd56809fe5299f4a07c0bad8194c73680f14502c07a0494979028
+size 48040121
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000031.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..51f0fc105c129811b8bd681747fb27c8599a9153
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:329ed3ec51aa284c4fa42a2ea399118029e5ac0ff688e5f7135eb8ab84f8cfc7
+size 51251683
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000032.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9df7f59d2299487fb8c1fbf513e05e1ef22459a3
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84b2e9827816f086a83133b24b1d7593f5a5c3e4adba540cea00591a357b90a8
+size 30936582
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000033.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..40b00292eecb61aab1efab455f2312da557a0027
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a3ab715d59c84d41fb899574ff81401f4c3cdaec5110b92c21e7a32e9e30fed
+size 43450692
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000034.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d2934c807172fb670c0498d4a359312fa039777
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecd7dab91ad6c3424cf004aadb7633f15f2b10a3b3c1db3250c77202a8aea369
+size 53519604
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000035.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..393f6fc419c37d51517263a2bb39398673f60400
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000035.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d9f689535c8a4e521895ed95c81645f99ccf5e6a959d35411f1e45fec500e5b
+size 31839667
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000036.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000036.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ccd68a00890f11049e93ef54599be13555da390c
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000036.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a7a7d0153ba8f2ce2be4dba882d38470c71810264cbf6c3b0b0aec9197d81e1
+size 26543008
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000037.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000037.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a4e73b6a7d9b7fbc7e3fd2f020ae5b46ed7b26df
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000037.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f324ee2eef6382c52ba2a2e486d2fbe9b357b9e214575beafad54cd4d1a0af9
+size 31354570
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000038.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000038.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b518a07fd27b20f5539d5b35cd55ca3b8ff919c2
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000038.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4e535a281ad80275a76e0b17a8ffb412c76d2550d86dce2f7e418fc2447b9c5
+size 30346187
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000039.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000039.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9d6d015bed9b4210076b144e17ceda1a925e3cf2
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000039.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18c7389999be3ebb8953990e261172fc649373be0b5ec6a2abafd092d09b7b62
+size 27044631
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000000.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3998cedff2a2c7f466a51c0b5eaebce0fd4da1fc
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c8de818e333f662aec5c67a654fac088204cd82001d061d1c7ff68b4c8ad926
+size 526098
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000001.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bcd9f5c42c912d3e36aad7de31d01d5d510c40ec
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d7c5ae2860daee74fd6dab2b0e8407d109e23d329f73001283cef6b5b7c4818
+size 410320
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000002.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3948642951c8dd3d39c75434520537aa589731dc
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2de2a0da8f327ac60754ebba8e4a2bafd8e5d5149034f1836d756204da83f9d6
+size 539746
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000003.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db0567c691fd0f296189630b93cc3d1a379635d3
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eae27d60a1adbb84504a6a4c226d0971fd69f07c59495dd768b7377c6d38202
+size 1432956
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000004.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dcf758b1c8b2036bb5504ced0ba8636caf5d7c77
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18a5e1a9004e68b0db0d1d016565e147ff8f8fb1b6525f060adf52ae62810574
+size 594533
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000005.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c485aeef4263d13fe4fe9cfaf75da4707d6fd3ce
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ba561db7339c7966526cefb9865f88b5702637ab8ae401e2f45a3e1446a2549
+size 548909
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000006.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e576e21c2cc4c123f77e4ee01cadd02c1561066d
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7d8c00251a0b060c50ac8d1893100414ea3616931dbcba4d94a9a226a7768df
+size 452007
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000007.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b58d61d417dbb614e5e1c5ed22a33c3b9b8b7c5
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d97c6b279ce0704247652cfd446a77ca1088818b9c14f697f3176851fbdf69e
+size 745215
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000008.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..edce4abc7e85480281cf0b0081d2fba6e3257896
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28b359fe8ff97d40161adc3336b7b0efae4a5d920d20dfe11b8b30dad11bbce2
+size 478659
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000009.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0de04f8020ff47750a231cfe1416e3108ff720c5
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f5ef0b09f191bb1f265d1fd9565710656317a920324824bed8d2121378913e1
+size 422559
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000010.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..972aacb9f920ced66f3e09ba06ab85a203c4a378
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a09ba1a167508639045cdaa54b9b4e1e065c8317285c94889ebd0d51fd1e0738
+size 529079
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000011.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4085b3be3055b1a08a70f0405662dfc5882f6651
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6da5bb908b260f78bf6c2dd042feb28ab93ec3a01681719a74026c10f6511cf4
+size 355801
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000012.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee8c3b6359f2795792f18df1dc5792e9805b6f40
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1724ac7051221b2ab892d27e8701244331e0b6055818ea8ff847b53e37a3d388
+size 426116
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000013.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..09c5cb75e589996eca1b70737fd33fd368714148
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71e7f4db693ed18aff1670fb5edc57706456ed1f1a60ad69003d01ffba6a12fe
+size 620980
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000014.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f6e41f2ce7d1fec8c71ed37d613a214912f1a1e4
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7231505e87e3a35f6bd877a68120a9d23fcb516003996703efe53c5cc5b0209e
+size 925604
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000015.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2c355b28ebb9d6433430e4de142cabb15cb825d7
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:389470fb6b841ccdb4db507c3757ff897ed83bb926577187eb6bbe8499f27d6f
+size 839433
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000016.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1daaa647321958d958e8673ea4d5239e0bf028b
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74c29b6d6bf42a13abd6a61febe7d9428a7cefa6e88dfb132795ab77f54f1b27
+size 468620
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000017.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..03e4e3ff7b96195124fcbf29ea6c7600e34aa647
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e3c93231ced65b1010f840b9ae2872b840995b48877c2ce017eee2f71b59872
+size 518589
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000018.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..754118c6b22b6fd389bc2b615240803551d57160
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4b1c46e96a85fae806cb8163b052f0b398f558167a5b274c2a5eeddd83e447d
+size 488695
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000019.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e6b98ab5d0fa541bd16061eb9581bee7d5299f27
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e59e89ea97948af48f99f59e2e418152b5beb2bd407586e05c152b8c5f9dafd7
+size 407686
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000020.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b854c2d77997c1bb214e7b016502f883e15b2ca0
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2a28a4624e142e6d50acfd1be0a240b63093f6842446eaf4b9211ace19f7ae0
+size 558680
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000021.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea2c1db5627f5a58ddeb85031fe91faf4a89ab78
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f88ccd2803336b1239f6f8c6d1d7e574108b37d34a91566426546c929a436bd1
+size 463688
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000022.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..47b363c8b48bdc4611b4e6f81403accbfa8c81fc
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08e1601c214e72c92873595316e4e9d93dbd0f5d6962965f6e1cd64a11798af7
+size 378310
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000023.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b942f4c0d279937dc2fd6792f83b23364566d0a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:038ddbab965cfc30722140f9d9bbd9f0aa0614eda9b4ac35d7bfca118c0be861
+size 526366
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000024.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a4af82520061c995fc8cab95efd1f35a76aded9a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3ae6633d2a231ac86a2a1bf5b23e310acf5721e6291a7cac8be23a0b7ff8d5c
+size 488417
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000025.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d903211ca68a4031b342403988cc8799bb4487b
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0db6fafafe0543873ee21dd0d3a4a6d37bc5787bd1e57839e85d1d98da0e3efb
+size 396667
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000026.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2bfa7cc1956ef8c0020530d21e7d1b221d6e8ecb
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c1a60f43d4bf819c1c6d7c752814d262f6cc9349d4b6b0b37718f4a058c781d
+size 407550
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000027.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..64e19cdabef001995e0e324127e62a3d4769210f
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:069a2dfd1e99ff599cc7e400ad9154b652c9d35b5e7dd4ac71a754c6ab91dab0
+size 887893
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000028.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dc2ce736d2d0297cc61435f8f2ab0df60295eeb4
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d87f8bec10912c742ebe1ab2cc1e92d22d080c11ec0d03e69c1de03df5a8558e
+size 822237
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000029.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb364a72f3003db073ee78fa500ce2aa130580bf
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e36d8c393f9226073dc30e9311e817bf4d31fbcfd0b5c456d5c4684f608630d5
+size 610349
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000030.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d1b1069507d617de7c85dedf3965aa0d7323e46
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2dd70a2232a9d959c21339bd783acc8d8d4b25214b1cd6c055158662edd8140
+size 731007
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000031.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6dbdf9b729a2d261c4068b0b17787dd0102c089a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a5a2dc8db857c702ceca609e6e53673d21e7f57e8e1938d0a109cfe87f69f41
+size 695213
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000032.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..774fceadb5477a72c5a40c9a67400bc740a63e2e
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5af99e892637fdd3c6e7f4b572f5a15ed0e185f550999f1bca3cb60652183b1d
+size 550583
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000033.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f5e11eefefa4c17e8a9568aa09e1ed99cde0ece6
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8676212daa20c75c03a422376a06c99b69be1395dc8c1407140b3a9ecdcdd7ea
+size 612534
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000034.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..468bbb8cde8841171b0d69d361908dd477a90488
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99ba7d82fea821feb49cd28f2cf38974c1cda5c1d02d170a713a1f40ddbea60e
+size 870239
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000035.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..291bbc7f25b323434383764130f3c6879127c743
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000035.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec87e39a3a8de90fa44c8f84f8059c2251ebf2bb2202800a39f99101b7fb4fd4
+size 491968
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000036.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000036.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7a0b040fe374d19f2c9b069a6529bd7c9cd84204
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000036.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a43665a7fcfe8e3a457d9b2b811d710f1f832c8e9d4dd85b952131b542930a5c
+size 475921
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000037.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000037.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..70fede3dded6476f0a36af11ac6ea77e71233aad
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000037.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb51cc53ee8ab377821251aedc318cc494690bae981878ce262736f0ace1aabe
+size 576254
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000038.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000038.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f4de8d9df9c6ef28550c698ef9049e90dd99fd5
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000038.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f425a29dc762534760316607a55fa798325cde663936743b9df71301a0297177
+size 502768
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000039.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000039.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da946430b3305912ef378660d49e5567c5f0fe07
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000039.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40349324800d23ad5ffbd27bc89aa0de48c94968ac3b04e498f419922c6e1e38
+size 399204
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000000.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..67967596517763e02a57d3151899d9bad563f77e
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7efffe19ebafb9d52c2ada223321a53df502946f580655b5c4922691a8c8aa43
+size 206876099
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000001.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b7425a9b5e779058f31a49f283489dc40e69758c
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2bb67f69162fded612dc9e1619f9218d94fac4291a86a34c9e9e8dadcc5d5c0
+size 176915404
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000002.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7c375e2981e7e5dd184f3a16b54476c5cf2824ca
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9701696b6f1dc1f26a6fb38fa8e3a620045f471206dc7727610eac2cbaaeeabe
+size 180422044
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000003.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7c326cb396b283e77c2ebe22b1fa46359db7928c
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bafe1de5868294aac1feedbce3b95199cb5e3d03b14c4f0ade59899c9996fbc8
+size 386307097
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000004.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c6d6502c2ee5bdecc022221ae540770d849a308
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:158a7865a339249deb3abfe41f28ed499851f9a8275627c6e966525eeaec71f5
+size 184588029
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000005.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d86ee8d198b54faf6311d9e937ed9259b25fe55
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ace7c022252604f8df1cbe7a46cf5d77b8887425e9fa39a4ef037b5d0d3c0bd6
+size 192397305
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000006.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fd0982713886f31d00f861d734fcdaa80e563556
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1304007a37007a5d3faef810b2ba6696992a842f968e6a342cb0aa58e631de7a
+size 133806103
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000007.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2bd24104af6256d38eb417e74a3132fe5b8cfedf
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a49a4be423673b17cb4f72b637b5d6aac172e08cf8b449de61a0063dc0f46148
+size 196016634
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000008.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29e6d04fe32f62fcfe929449001aaa18f10cc45b
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cafbb462554512c911fc2a47b16c7c6ae02b13344506d6d6ef665269d3dd0ff9
+size 135507518
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000009.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c11e8212407422b7e209801de14f30877c4b613f
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6da4608a6545e45b1090085d027b32917c6ff04e67a3ee5552beaed01fff2e5d
+size 118690165
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000010.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2c20ef586d85b19778b94b5d7bc713227252c87d
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9dd63f94dd7302fa5028453dbe04bc34759d5746a5c24a0e895177b330713d9
+size 190525976
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000011.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ab8b05daa4db7f61d4070ad370220079c2f2c5fb
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e30f0a0083279bd192e631adb76f1a537152bd0fb46ac475d6519ac5f73a9550
+size 110222370
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000012.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8bc9b3993b34eac625dfe7f9e469d9dadb427d2e
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9098c66fbf6ed610a5c6fc59b658dd74b348988f1962d95be4a317043863e794
+size 141503115
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000013.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5fa46c0ac695b8a12ab4e217964a462f3f141d66
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78f240ea7071e1a12da0e404ed2d3cc0792a76ea68cf51fbfc44afeb34e2bccf
+size 206833200
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000014.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a6d9065abdf365a514714f6486d838866356a1a7
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:539ce321b140e137a7b59c0e2338f7af02429efa788a497bb2b18c8005e85c27
+size 254330028
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000015.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..983413bb6808bab282f763041b855bbcfe85d369
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e0ae6a3907045095aea4a190ed2802a85c2bab177113112d0f28ae75d7c224f
+size 293110522
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000016.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..26307305ec72f43f0ad55fd99e1ec450ef2f4ce3
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3afbb97666f5e13191ba88f9b959ef8f9db68f3599b07730260af08fb95174ce
+size 155300065
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000017.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e1013d142b5030f9eddc9b80a9c0ee192031351d
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec2661c847cdcf6ebaab0c3c7ce5a18a142f9205385aecfbe83faa350046e72f
+size 174362807
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000018.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8381debf1da6b7fcfa5ff7651495f9751be93961
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec23b687fcef14292d9c4c28ae3760de88b053112ecd84e7418b41594fd4013c
+size 179496222
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000019.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9613a1e718788d505296e3ae3a7e8f15291e3ec8
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cacbc9e895f5899ba8e5c9db9a8878ea5efb2c5733aea9753ed2e732476a5595
+size 134935296
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000020.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..16cf374c7db11e8dca272a942362a75cfbe2bd0c
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:062bea3b8fbf5ce41517d0bc69e76c7c775c573a672bff395ccf348c3a2831e8
+size 203232842
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000021.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4c63d19ad6fb90b35d57cd8efc7462b2f24e9b52
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f3fd34a2b714e6ea372de3a2478a0ade4a91181c2b67a6c3535f717783ffb54
+size 167961137
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000022.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c7dbaa3945be8848dd795f456def319493e02f47
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30c29d3a5f2691a6a37b6bf5e6a994d0d895d8d522f5ef78ab59b908ebf5ef66
+size 126586814
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000023.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c03a088aa7e4fb24f82b94b4d582c18582ef376
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65eb9908f48a1d2f6695beaad0fd9c69ffdf94a588e3759805a6d561a91dc8f0
+size 182720961
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000024.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d5b7a98e469e81a19a08cca2b461bde0b1bb0cc
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c735df2237aa5725ee352da81490ec84c02b25f358c908434d973f5cfbe3a34
+size 188507722
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000025.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7a6784d9739af2f198bcccf381aa9a5a07ee29b4
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38531fd2ca89c137e6ee7298a988f6edc2a90c5f354dabd0964a511bb43e16d7
+size 147652917
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000026.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..90e4dcb1deba7050dfe296a8bddd2b8984b3e845
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6403b084fdfbf92aae3130bfded9910ce8a9f8645116e8fe5bd2d3bec0e7f2b7
+size 128207211
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000027.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..38da57308b9e4a2919d898bd0cb3bfe7cad0f01d
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c8e7e3db3ccef7bd92e81bbd724505e809d4a810ad4dc79307e7ebfb420c7f2
+size 329059604
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000028.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f73c75df6a42721d6dbe86995d5f45df3e4227c2
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7204c8546d358987680c6e4620bcb21dd2278c43669d8d5b70a298629d3bade
+size 298262579
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000029.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1700e7910beb6d6a77ababf04894316be76f6ec9
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e5fda619931476e9548811205b12c5d7ec4145b60bd397f8085c2608abff6ab
+size 265708213
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000030.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5e36d70ff8c0958ef6b84cd40856f046ef93499e
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7441a1cec9a6cb260dcfad29e8d067153af6bbd6d0ba0524fdf95b39088fe7f8
+size 237777220
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000031.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0327f0c0e572f30423b4d1c16169a30e0824232
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f147fc1391a75339affa39f70e7725dc451e9aa6499302cd8b697192cae4e447
+size 255473133
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000032.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..42c619ec66113a1f68e415d098fdaffd61715839
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de9eb853ccb0ddf85fda6d0b4de4bd6bc9b213bba429673cf2f55216e817d06d
+size 160800731
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000033.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65ffe95a16576f52b28a366c7ea72d1c7cf7d915
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:458b7654e19b5a3ae97dc6c55ec66926a7db66c0a7c5993015c75fe6b4a596a5
+size 208201492
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000034.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c35a1c277a9292d09c5aff5eb8b3964168af8caa
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f504d8a9cdc4f580433644a552c04a57f1e5f7d0cc38d1a2e6a03d507e01db62
+size 273144543
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000035.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2ae532f44a7351242070f7d8024e450a8ed678d9
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000035.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fb95e8c9a0e7812bdc7a19cfdfb1e6058c6115eff4dc35aa8a4a353ccbd9633
+size 162148886
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000036.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000036.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9598e88dd6c8106295bf15e234fdc9338eb7b73d
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000036.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d53b58a62bc4cf6cd042c6f50bcdfec140d2141bcd425c50b66ef52799538bd
+size 137686223
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000037.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000037.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..238a8b439c85bc17e1497c11c536cbab006ac60e
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000037.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:debddb676c4858af8d7ecca8e3194f7ee5990f55b5b089fbcc471e9407220d94
+size 162294655
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000038.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000038.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1056cf9906c3381ffff4b0c7cfffa5147d17e7ae
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000038.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b53b93367995173c949077959ebe4f4571b8328e8a2b4fd94b29c7ca7fc4788c
+size 156445358
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000039.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000039.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..76c48f33674c90edd7c720370798a7003c763059
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000039.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:844b8f0d601cd80cfff713d931792a03437777032b119e356633448a619ef084
+size 139988260
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000000.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..37dfab2bfc20c66e4ef2bea50863c8c2d604fd7b
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17558d9da79f8471c366ca962c52aa5b7cbb49c978b42618c7d8f48d0568f3e3
+size 30789973
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000001.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..022891245047ed23845a747fb8d68e902e8ec3b0
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63f188f2c2cf402e0df5e5e86682874490312930384db21b0898c6190926da94
+size 25074665
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000002.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bb4c6a568207e02c6f52f281b0cb499c82423273
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67b748eb10439a288645fff679cc0bd7d4cf9500aeb85c048152474c3853c4cb
+size 24921927
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000003.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0c4e2b509247ebbc0817c5718aacb4c50e3f34e8
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6491859912f80ecba79747be81b45f4ca76f7fdc58c8b6dc8e48f03d14b3e0f8
+size 58677380
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000004.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f6ca0f950341391dc75ad01426d501220ab6c2b
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03244ff2f3fe97299f29b3fd1d2e09ca2a23abe7f4e315b5742bd18749609ffe
+size 24815260
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000005.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f4c4fb1e5563b5411d3f51fadcc5c76aef5b776e
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b13dfcbd14f4db8fea9d640de97bc59fd66102bd65fcb143e5be4056024a8b9f
+size 25985603
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000006.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b6d034ba7ced0ec24b80b3fd3baf25ace4548fb
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f0d8cff6e6889b345eed713be81cb5161a669a3f219e418c05e3e56e6bdd1e2
+size 17841318
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000007.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a6324f22a407f2a70ad90e0154206c10a7e7e4ab
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1edd4dfed288fb20c15aa02c28e6856c5b51efb12df1078378e6dbc952eb681
+size 29046657
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000008.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b53668e6ad54b3b1bd538f9f640d9446df6d71f
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c0943ce9dbf08f2565b7f708c3b63d42234b57eda9b650edf70a4cc65e6f767
+size 18830357
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000009.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b2fe9cc0d556496b113df4c27ff803559aa452a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6756681a4996e7d924bf6919fed4a1ad58739d7e9e2bab46e5b58b6cd8865030
+size 16178666
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000010.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..04a4e74ed4c65728d14ca33bbf79c85e70e175b1
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50dee977a2c7a07b756a83346abfb0befaf686df4da1f3b555a46a89978058f4
+size 27434348
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000011.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cdaaac9dba3cc69e9a0d09057ae8dd6b06e36c75
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae5d99631c1b144395c3c262ae14221fa90b7594faf7781fe60f7dc489bde527
+size 15418608
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000012.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..914a1cdf8148204304db948d770817ac681b0589
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d37202967ea16423ac31862b4e0f12f48804c0e972355b636afdd8309668c70
+size 19373736
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000013.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d5286efbb645b5913a04fa52c7bf9cde2682047a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53ec4db498dfc32649425b0960406f6f55d2791257a55f706b1e108f2d76aed6
+size 27610813
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000014.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..468dd315ff0e576143733c97c2bbddc0192f93b0
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cfce79921272bb479a59572806314ce3035695d4b07ded392bfa00d73ce1c8c
+size 37739915
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000015.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b913a8b46d3a668cc9623196c940b1ec334748ae
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0880bfff900d83138b65fb7b04b240aae027c8b9d548714cf259456ae9808a90
+size 42671052
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000016.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..63c0b905a4c2d7329f8bd565ef0bf93f875c9cf4
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5769d9079e3f034ef3ac3940dc7959b36c8decc286bb9eb5dfdfe9fb2ca9dc5
+size 20517547
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000017.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5a31200ea57425853cd664420ceb84910f29d9f4
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78adce4d1dc406e8cf439976686ef064adf7fd877a5fbea10a086706c7ccd43c
+size 22825445
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000018.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..482332d2c519fec00a0d10358b582b79904c5836
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:947230fd890f0cab0bcbc2b5f86a7a68ad286b5af04da14cc25ce1ae1bf79d3f
+size 23484016
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000019.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..483f14d54541ba8f190ba6f2cc53c27a8deb3a49
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a196897385a263a4bc66201982b0da1aa3af3fe9187c176b22223ebb7872849e
+size 17384477
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000020.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..13fe2b4033550bbe366247ab110e8be1e2aa81c9
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba899b57242fead9a188590602840be9b3de96e7c563f696f2156871f3c9ef30
+size 27200012
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000021.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4dc0ed891cf46393b0e93ff0bb4c2e56c121f191
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fff91834bd267bdceaec96f527e23faabe1998fbccfb77541fc4a256118bdc7
+size 23821120
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000022.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e553afdf3db2f1e7347b698b4a40ef59538e733d
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86586fb0f9696ca2e6a4e787c78be3d3c6df6dbccd51ba63e6a193e5703560ad
+size 17846842
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000023.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bfe9854b603953b9f133f3f2145e885b34bca4d8
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:754aa7e1bf5398c7e80bf181d6df85eefcb359e5143562ec452505b94bd21292
+size 25701283
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000024.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..149581b89377ab05447a594705368f94fb93df86
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e6cac2ae095abcb65746f3b7f46fca840b7934107d61b9d660983a1525dbcd7
+size 25353786
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000025.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..35f96bc2e9fb5d50c091e1a4ffee8efc8931d39b
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b71661fc31688434761fc0561b6d093633f8acb2c03f5d61d2c4eda9cccaaa99
+size 20439925
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000026.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..21e0c3bb012e732d78b50f1e16d750cfd2001715
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6d7d5caf57c4ebd27098b40979892641f872ab2492f3d03a366f8a4348f8579
+size 17484520
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000027.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be7b3a1476c0f9fa4f54c30f2a54869a2e60ab0f
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dd7812c2a8e2611a9f2da1fd2d1c93a587c65aa63fc8174977c585ce794574d
+size 47839116
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000028.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f5495864c58fdb3da13d3fb0809a20f83c8dc2ad
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3073fedd967e2b7f3e738a4a1ffc1df8b34062808d51e769ab169ccdb39bf3a5
+size 40432819
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000029.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2637bfeab07a95c835aa60f937292ec87ab43e29
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8c5f8991a3b7aa02ae33468e61ed0ecaf67de62a14f1bd432a9422f5bc4f6db
+size 37615945
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000030.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0bff7f44246ca1589b120251dca2a181de206de1
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34ad11afac21bb5dae45c6e125d7cb2d09099948936b9978a7aae2a3584a03bb
+size 31779589
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000031.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..026e407fa15d9160e12a3a2af47b4755a1bf3b65
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8be15848c28f4923111da8680212260c1e8e85747106bf6bfc715045dc0053ab
+size 35542704
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000032.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b77762385117b102f240d9a0283ffebc874e4f08
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21048124b60eab09091b4430c56d86405b861bfc43b13f7d521142afd42f3aca
+size 22422518
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000033.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c53933473382d1a19389c4997977c4d2c9f6f849
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70b78684d4f25e515260d22775fb592a2cc725593ba411ef71270465d0cd1c0d
+size 27934060
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000034.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..41791e7046ef1651cbbcab2c7fe8d5489f33bf12
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76d669f2bd50f7b153529b0defbff05775763650274d33dc9ded845093ab2af4
+size 35891722
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000035.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed35dbcd118b0e1d60f81727505217f8c8ac3dc4
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000035.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f04b6ab56e712f69ce898d380bc07b2a2df4551a96d7b76dc105aeeae86e79b2
+size 21177292
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000036.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000036.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..33c1b9ef4a42867d68bcff7406515e3f8bc83f92
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000036.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45fc1ef5d79f13261e1699ffd5cee7edd5729ae5773c71d5e652e26e0bdabb04
+size 18221693
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000037.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000037.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a516e3ddb816ea153a62ee4e39d887dffb8bdfce
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000037.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4a13c768da91f69e1c04bb26c9a9b6978eb13b9830593f9f5a8f179846ea9db
+size 21567613
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000038.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000038.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..832523bccd10241158221a34ef9d703711698925
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000038.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00c71a4bb28bf27de2d94ba1deadd911671c40a10e552b43c6ba4db986e1522d
+size 20042908
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000039.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000039.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..342ae8299ddd4d3a5a4a2dbc8d7f325097091144
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000039.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52d2b57a0224f26ecdf71a896619cdfade0d38c10094c971f0b401c8a0ad8401
+size 18532237
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000000.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d89f541f9c2ece34c906840580b34b1721284d7c
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79185eea6356022ad745069684a46a6a6c862a076c8f15a9fd06cb296c4eddf8
+size 32749469
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000001.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0bf564c04270edd0b3cdc501b768ef74a379ab64
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be5e95b1a46d48addf5e26068168c7f154fdde63ed83f7621a8df9899bbaed4f
+size 28769513
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000002.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a6b5469cb8ffe87266cae68e8365506bb10a85e
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbac076573a3f237c80447300b27b273368c42bdad158b2a3fceeaffad6875b2
+size 29422929
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000003.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e29f79662c0dd8c5f0fd95eb67986fae117aaf70
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b11b47beae994c7cdfe2b504e12fba76582aef42e47789df43e97a04e3b433e
+size 60997586
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000004.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..395135370c4c2fef146a2da9535c9153349c8dde
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb706b43fc981dace30672ddef61d5ec2026c7e112470ae9739fb0881d4eb8a9
+size 28933365
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000005.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..18dc135bb1892cd88d7ecfd4eb5fa8f038ac17a0
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0638086c371e955daf0dd29f95d00e30999f558775ced6c32fe49fd6a8b8c7fb
+size 31080641
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000006.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..86e0a383f836812c8d40ce192c834de51d7ea51e
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b279b26137ca0a44445c570b225b9b9226980ef615b3fcb27d4f806fbd1a42b7
+size 21590360
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000007.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..06ffa1fe364cc4d6e2ef75677d6955b2bd0b687e
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6082cf190828e45d2055d749d807964a0c346ca1b70530d3d66be04d9ec59e7
+size 31155683
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000008.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66564d3ae5f01a9913a43031da3793d3640af266
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45c870f46944a80c649995e521d75a660dcdddac9dec201031f8e29d35d16cdd
+size 21966017
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000009.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b59315e683c697f4635f20c1458f6a81667c556c
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f463f6ed6f9dcde694b17de1cff97f11b46ec7ed6b3a977e2b18c3280598936
+size 19455966
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000010.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d523d5e0e34e814498bfa018c809208fa7129075
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1bb8fac1fc7fa36ecaa7581ca19986f93f020bb4b3c08074c2e9abf96ef6cb4
+size 30607076
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000011.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c90b752a7458d2afd98dea69ce9a1888c23d59ee
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49de52201f65120bed9bb3625c79af6ec3037a130987dad404afa61b483422ec
+size 17267974
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000012.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cfd57f5b6749b9c025f9eb6fce933618462a5995
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df65f3c9a2da79a3e4a038b788e80aff46443c9e279a7eb19e8969ac8be115f8
+size 22350117
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000013.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..27b68f00781ad240b0bc72c1c127b61b71b075f3
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46e2772c69dc538e72ccf613d770a144bcaec10d26a9ba64cb05465a3bde4103
+size 33313370
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000014.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b5e22054901e27a2be959750ac415577bae8c8e
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7d6e55399ab6b31711bf77efcdefb3e54812e26b3fefb7bb268e7c5d1bec736
+size 39186912
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000015.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f92ef0acc9c08cd6b10d5206738ddb5da326644
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a1b3ad6b166d1551a483b217424ab112eb2c26c328c90478e3c2e4841624dbc
+size 45174021
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000016.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fd63cf90e6a91c776bf97816b7c8fc33c2f80b03
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5c1e1be542c1757d7dba16e43332f9e5ed19e6e38d1e436609c0707fb431d81
+size 24654791
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000017.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c97c771e26f6ee46e88f60d44d348d0b8953669e
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6213cecec035847f95d3607335a0cdbdf2af3ad664cefa39e69d30f4f39404c7
+size 27669805
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000018.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed2d49cac5822d2815955cd3810367a71a977287
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b0d98bd2b900e662d0ad912bfe0d502fe267fcc1fb39a369192793ba90aa5d2
+size 28457531
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000019.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a430aa213c5a7ba65c3e983711a1b20e6e1ad2e4
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d365f52e43095de0c667e0bc32c9628a37b359f35519dc7e0b4a6731970d6ab
+size 21428728
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000020.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7bcbfab6db50b1e5e7430dd356767677359b57d3
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe7266b550009693c5992d32dcca1b0ee1fa75fd1347151472b9d9db01441e68
+size 33431021
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000021.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..694588d7aa7a6991398d0f0b360795d68d44e3c1
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2d52e406f3754f1dbff5709bd21489d2f915da1a0756b860733d3b6bd0ec0fa
+size 26584537
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000022.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd131636bad42efd32496d7c2b66cb8e848e2ee8
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d4e4f778fc979e8eeb4e8047c12c46ce601d467b212ce479f5ba14f548af65a
+size 19857182
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000023.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..03dd242dcf1cabd83e8ed6735d3865b94d9f91aa
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccddebe9bfacfb648b7424af0053e24e09313d9c3a49755eeece1ea6d90fff14
+size 29214793
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000024.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3e47b0a59f0bf643efa3c5ed6df2d9420895f1da
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de2a1a513e2f7770d761e7212c4341dd839b533123c5078e811db99519539fb4
+size 29821069
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000025.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c1a9943e47010eb1db2023c0abc044d9ced3474c
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9752f404bbc1c28cb9a118880eb298cd0889589992332756e078aeb2bc1e4ed
+size 23179863
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000026.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92e8c591b201d78b657ba99f0385542b0af5c1e1
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b84a9d0c563743ae680d95dfc39201fc9ef0e8477310e6325a6a71d61ad155bc
+size 20570099
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000027.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..242765bf1d73e111f9566ad45d67c8e60fabdae7
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd749e088e50eedd9630ebf70304da9f42615e683626f142aeb7e26263053b24
+size 51392215
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000028.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..85de019b2bc499dda428c2c1e780d15d38854fac
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a167ed3d0c17aea04610ec0ceee1b2ac667c4bd5516f18e9552b299e3c2da176
+size 46639637
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000029.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0bb3cad8e990af5b0bc5c3d95d37a1183ff4f31
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17bb2e222ec7e4f5c6698f836b85b6d0c7710e54e554a41e614143f446c28383
+size 41651486
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000030.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..67d3af2d34be4f6a9f3d5a6c100bf1e478937445
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5bc6ce325732da4ead43d291c98af760292bfc22b9b8180c6527fab10925ede
+size 37429096
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000031.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2a9ec6dca7811ed9d7f21c4c2d58992c803e56f
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10c9ca95812233927a5b6cd1e15ad92c35a5dda92eb10b653aeba286d4dd9ca0
+size 40762590
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000032.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2995e19e42caaa9af66e4b56465192d4634c9ae1
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:400a7fa336b46186f86c955f95ea1882e997970a2ae00febce16cac56af857e6
+size 24882489
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000033.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dad57466e44dceefd032d4eeab5b8b70dc2f531e
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47c323705c7576584ffe076c53082ef82aae9233b627e4cd2ce1cbd14e45d8d6
+size 32716857
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000034.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ccfcc33ae64ef04203c90273a9ae63aa0627579d
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e19985211e3b1bc086500ee1fd94fac9d3daaa0dbd6a82f9d9b9252fa1ad9552
+size 41435919
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000035.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7c51b40d3989a3b8a579b1335ded0684ade32254
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000035.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c08f04b59fe15b31d130c0d01027060f9f63eb277666f59cbd593b5493bb005a
+size 24718280
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000036.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000036.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa6cadb70fe54e4b8ad2c9bd6541e0ff37f85c33
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000036.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6668a3b09422d82a60f259acf7e3f8c7ffa9730b16ca099eda3f88be66fa257f
+size 20895261
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000037.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000037.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ade3eee566be882fa9ef38e39a02bf5b5b295380
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000037.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3438391015835bd0111176f1e5f7de4da69da2056b5c429c6b12c17c643a5e8
+size 24811989
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000038.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000038.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..19e4254ccba197f0bfce702c9a292ed2100d8fbf
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000038.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e3b1c06519d1dfa768fc24df3ee02494bf6963ac5508e5c814e8a24597ad1f6
+size 23546929
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000039.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000039.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4f3179a2dbef13ccc955a9ce71133e18752af8c8
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000039.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7a335b1e379484eea8c3cbc0df86af74131b45d1e2d953ef92d320b7064fe42
+size 21338471
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/data/chunk-000/file-000.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/data/chunk-000/file-000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cfa8d91b351d299032354cb98b3d8c79d76886fc
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/data/chunk-000/file-000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2960aa56a3f5fe1c2fef5493d524272a1740c475cef802072ec92073cb944e84
+size 88033721
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/annotation_cache.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/annotation_cache.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b0146b3f46dfbf2ce3d73d40ed068e92b2eb3c66
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/annotation_cache.jsonl
@@ -0,0 +1,40 @@
+{"source_uid": "7e673ad70dab6667", "num_frames": 1792, "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": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward to the natural resting position at the left side of the table. | Right hand: reach: Right hand moves downward and leftward from the right edge of the black table toward the blue building block on the table."}, {"label": "valid", "start_step": 0, "end_step": 1754, "id": "JPombVzQAdoO-98rHYp6f"}, {"label": "subtasks", "start_step": 30, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves downward and leftward from the right edge of the black table toward the blue building block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves leftward and downward toward the small green Lego block on the table."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the small green Lego block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers and makes slight adjustments to grasp the small green 1x1 block on the table."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the small green 1x1 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the small green 1x1 block upward from the table until the block completely leaves the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the small green 1x1 block in the air, moving it slightly leftward and downward while rotating the block slightly to adjust its orientation."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the small green 1x1 block downward onto the black table until the block is stably supported by the table."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the small green 1x1 block on the table, with fingers gradually opening and separating from the block."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the small green 1x1 block after releasing it."}, {"label": "subtasks", "start_step": 390, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and moves it above the larger green block."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place_mate: Right hand places the small green block onto the top of the larger green block and adjusts it for assembly alignment."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the small green block on top of the larger green block without moving."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the small green block on the black table, with fingers gradually opening to release the block."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand moves upward and rightward away from the green block on the table while empty."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves toward the blue 2x2 block on the table, approaching the block."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the blue 2x2 block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue 2x2 block on the table without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue 2x2 block on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the blue 2x2 block up from the dark table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the blue 2x2 block leftward and downward toward the green block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the blue 2x2 block onto the green block until it is stably supported."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue 2x2 block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the blue 2x2 block by opening its fingers."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the blue 2x2 block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves leftward and downward to approach the blue block stacked on top of the green block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the blue block stacked on the green block, with fingers adjusting to stably hold the block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue block stacked on the green block without moving."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the blue block, with fingers opening and fully separating from the block surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves rightward and upward to approach the orange block on the black surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the orange 2x2 block on the table, with slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the orange 2x2 block off the black table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the orange 2x2 block leftward and downward to above the green building block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the orange 2x2 block onto the top surface of the green block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: mate: Right hand adjusts the orange 2x2 block horizontally to align and mate with the adjacent blue block on the green base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the orange 2x2 block on the green block without moving."}, {"label": "subtasks", "start_step": 1582, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: press: Right hand presses the orange 2x2 block downward to fit it firmly onto the blocks below."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the orange 2x2 block, with fingers opening and separating from the block surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the orange block after releasing."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release_retreat: Right hand releases the orange block stacked on the green block and retreats rightward away from the block stack."}, {"label": "home", "start_step": 1755, "end_step": 1791, "id": "NRe5Icfbd2tZTGE_FBRNK"}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose with fingers extending and wrist rotating slightly. | Right hand: release_retreat: Right hand releases the orange block stacked on the green block and retreats rightward away from the block stack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose with fingers extending and wrist rotating slightly. | Right hand: idle: Right hand remains empty at the right edge of the table without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward to the natural resting position at the left side of the table. | Right hand: reach: Right hand moves downward and leftward from the right edge of the black table toward the blue building block on the table."}, {"label": "subtasks", "start_step": 30, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves downward and leftward from the right edge of the black table toward the blue building block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves leftward and downward toward the small green Lego block on the table."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the small green Lego block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers and makes slight adjustments to grasp the small green 1x1 block on the table."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the small green 1x1 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the small green 1x1 block upward from the table until the block completely leaves the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the small green 1x1 block in the air, moving it slightly leftward and downward while rotating the block slightly to adjust its orientation."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the small green 1x1 block downward onto the black table until the block is stably supported by the table."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the small green 1x1 block on the table, with fingers gradually opening and separating from the block."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the small green 1x1 block after releasing it."}, {"label": "subtasks", "start_step": 390, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and moves it above the larger green block."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place_mate: Right hand places the small green block onto the top of the larger green block and adjusts it for assembly alignment."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the small green block on top of the larger green block without moving."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the small green block on the black table, with fingers gradually opening to release the block."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand moves upward and rightward away from the green block on the table while empty."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves toward the blue 2x2 block on the table, approaching the block."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the blue 2x2 block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue 2x2 block on the table without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue 2x2 block on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the blue 2x2 block up from the dark table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the blue 2x2 block leftward and downward toward the green block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the blue 2x2 block onto the green block until it is stably supported."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue 2x2 block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the blue 2x2 block by opening its fingers."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the blue 2x2 block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves leftward and downward to approach the blue block stacked on top of the green block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the blue block stacked on the green block, with fingers adjusting to stably hold the block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue block stacked on the green block without moving."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the blue block, with fingers opening and fully separating from the block surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves rightward and upward to approach the orange block on the black surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the orange 2x2 block on the table, with slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the orange 2x2 block off the black table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the orange 2x2 block leftward and downward to above the green building block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the orange 2x2 block onto the top surface of the green block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: mate: Right hand adjusts the orange 2x2 block horizontally to align and mate with the adjacent blue block on the green base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the orange 2x2 block on the green block without moving."}, {"label": "subtasks", "start_step": 1582, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: press: Right hand presses the orange 2x2 block downward to fit it firmly onto the blocks below."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the orange 2x2 block, with fingers opening and separating from the block surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the orange block after releasing."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release_retreat: Right hand releases the orange block stacked on the green block and retreats rightward away from the block stack."}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose with fingers extending and wrist rotating slightly. | Right hand: release_retreat: Right hand releases the orange block stacked on the green block and retreats rightward away from the block stack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose with fingers extending and wrist rotating slightly. | Right hand: idle: Right hand remains empty at the right edge of the table without moving."}], "episode_index": 0}
+{"source_uid": "6129577630c79558", "num_frames": 1535, "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": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves toward the building blocks on the black table surface with fingers kept open. | Right hand: reach: Right hand moves toward the building blocks on the black table surface with fingers kept open."}, {"label": "valid", "start_step": 0, "end_step": 1496, "id": "6sKB4qKcpJi-KQQGKmbMR"}, {"label": "subtasks", "start_step": 90, "end_step": 367, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers and wrist to form a stable grasp on the small green block on the black table."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift: Right hand lifts the small green block off the black table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: transport: Right hand transports the small green block above the larger green block on the table."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand mates the small green block with the larger green block by aligning and pressing it down."}, {"label": "subtasks", "start_step": 420, "end_step": 591, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the green building block on the black table surface along the normal direction."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand moves towards the blue building block on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 697, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift_transport: Right hand lifts the blue block from the table and transports it above the stacked green blocks."}, {"label": "subtasks", "start_step": 742, "end_step": 891, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand aligns the blue block with the top of the stacked green blocks to prepare for assembly."}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the stacked green blocks to secure the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 981, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand moves towards the orange block placed on the table."}, {"label": "subtasks", "start_step": 982, "end_step": 1109, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift: Right hand lifts the grasped orange block off the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: transport: Right hand carries the orange block to move above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1185, "end_step": 1289, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand places the orange block on top of the green block and presses to align and assemble them."}, {"label": "subtasks", "start_step": 1290, "end_step": 1401, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand adjusts finger position and moves slowly towards the orange top block of the stacked building blocks."}, {"label": "subtasks", "start_step": 1402, "end_step": 1461, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the orange building block vertically downward to secure it on the stacked blocks."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: retreat: Right hand lifts off the orange block and moves backward away from the stacked building blocks."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00020", "text": "Left hand: return_home: Left empty hand moves back to its initial home position on the left side. | Right hand: return_home: Right empty hand moves back to its initial home position on the right side."}, {"label": "home", "start_step": 1497, "end_step": 1534, "id": "HksECnObdVBUhjoEhjodO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves toward the building blocks on the black table surface with fingers kept open. | Right hand: reach: Right hand moves toward the building blocks on the black table surface with fingers kept open."}, {"label": "subtasks", "start_step": 90, "end_step": 367, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers and wrist to form a stable grasp on the small green block on the black table."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift: Right hand lifts the small green block off the black table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: transport: Right hand transports the small green block above the larger green block on the table."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand mates the small green block with the larger green block by aligning and pressing it down."}, {"label": "subtasks", "start_step": 420, "end_step": 591, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the green building block on the black table surface along the normal direction."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand moves towards the blue building block on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 697, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift_transport: Right hand lifts the blue block from the table and transports it above the stacked green blocks."}, {"label": "subtasks", "start_step": 742, "end_step": 891, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand aligns the blue block with the top of the stacked green blocks to prepare for assembly."}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the stacked green blocks to secure the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 981, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand moves towards the orange block placed on the table."}, {"label": "subtasks", "start_step": 982, "end_step": 1109, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift: Right hand lifts the grasped orange block off the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: transport: Right hand carries the orange block to move above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1185, "end_step": 1289, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand places the orange block on top of the green block and presses to align and assemble them."}, {"label": "subtasks", "start_step": 1290, "end_step": 1401, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand adjusts finger position and moves slowly towards the orange top block of the stacked building blocks."}, {"label": "subtasks", "start_step": 1402, "end_step": 1461, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the orange building block vertically downward to secure it on the stacked blocks."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: retreat: Right hand lifts off the orange block and moves backward away from the stacked building blocks."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00020", "text": "Left hand: return_home: Left empty hand moves back to its initial home position on the left side. | Right hand: return_home: Right empty hand moves back to its initial home position on the right side."}], "episode_index": 1}
+{"source_uid": "89943de5b399f8a1", "num_frames": 1563, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1527, "id": "1LDGfSWHPGWOhmrNu6WKW"}, {"label": "subtasks", "start_step": 15, "end_step": 97, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from its initial right upper position toward the small green cubic Lego block on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 98, "end_step": 201, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around the small green cubic Lego block, making slight finger and wrist adjustments to establish a stable grasp while the block remains on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00003", "text": "Right hand: lift_transport: Right hand lifts the grasped small green cubic Lego block off the table surface, then moves it horizontally to position it above the long green rectangular Lego block."}, {"label": "subtasks", "start_step": 232, "end_step": 351, "id": "reasoning-language-00004", "text": "Right hand: mate: Right hand aligns the held small green cubic Lego block with the connection studs on the long green rectangular Lego block, pressing slightly to fit the two blocks into an assembled state."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00005", "text": "Right hand: release: Right hand opens its fingers to release the assembled small green Lego block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00006", "text": "Right hand: reach: Right hand moves right toward the blue building block on the dark flat surface, with fingers held open and extended."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand closes fingers around the blue building block, making small grip adjustments while the block remains resting on the dark surface."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00008", "text": "Right hand: lift_transport: Right hand lifts the grasped blue building block off the dark surface while moving left to carry the block toward the stacked green building blocks."}, {"label": "subtasks", "start_step": 480, "end_step": 539, "id": "reasoning-language-00009", "text": "Right hand: mate: Right hand aligns the held blue building block with the top of the green building block stack, pressing down to fit the blocks together in an assembled position."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00010", "text": "Right hand: hold: Right hand holds the blue building block fitted on top of the green stack without any visible movement."}, {"label": "subtasks", "start_step": 562, "end_step": 569, "id": "reasoning-language-00011", "text": "Right hand: release: Right hand opens fingers to release grip on the blue building block."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00012", "text": "Right hand: grasp: Right hand closes fingers to establish a stable grasp on the dark blue block placed next to the stacked green blocks."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Right hand: push_release: Right hand pushes the grasped blue block rightward across the table surface, then opens fingers to release the block onto the table."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00014", "text": "Right hand: retreat: Right hand moves empty upward and away from the released blue block on the table."}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00015", "text": "Right hand: reach_grasp: Right hand moves empty back down toward the blue block, then closes fingers to grasp the block with small finger adjustments for a secure hold."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00016", "text": "Right hand: reorient_release: Right hand rotates the grasped blue block approximately 90 degrees to turn its studded surface upward, then opens fingers to release the reoriented block onto the table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 831, "id": "reasoning-language-00017", "text": "Right hand: reach_grasp: Right hand moves toward the blue block resting on the dark table surface, closes fingers around the block and makes slight finger and wrist adjustments to form a stable grip, with the block remaining on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00018", "text": "Right hand: lift_transport: Right hand lifts the grasped blue block completely off the table surface, moving the block leftward toward the nearby long green block."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00019", "text": "Right hand: mate: Right hand lowers the blue block to the table surface, adjusting the block's position and orientation to align it flush against the side of the long green block."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00020", "text": "Right hand: hold: Right hand holds the aligned blue block steadily against the long green block on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00021", "text": "Right hand: release: Right hand opens fingers to release the grasped blue block, beginning to move away from the block's surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1147, "id": "reasoning-language-00022", "text": "Right hand: release: Right hand gradually opens its fingers to release the blue block attached to the stacked green block, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1148, "end_step": 1214, "id": "reasoning-language-00023", "text": "Right hand: reach: Right hand moves left across the dark table surface toward the small orange block, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 1215, "end_step": 1281, "id": "reasoning-language-00024", "text": "Right hand: grasp: Right hand adjusts its finger positions and closes fingers to establish a stable grasp on the orange block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00025", "text": "Right hand: lift: Right hand lifts the grasped orange block vertically upward until the block is completely separated from the dark work surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00026", "text": "Right hand: transport_place: Right hand moves the lifted orange block horizontally to a position above the stacked blocks and lowers the block to rest on the top surface of the underlying green block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1409, "id": "reasoning-language-00027", "text": "Right hand: mate: Right hand adjusts the position of the orange block to align and fit it properly with the underlying green block to form the assembly."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "text": "Right hand: release: Right hand opens its fingers gradually to release its grip on the assembled orange block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00029", "text": "Right hand: press: Right hand uses its extended index finger to apply downward vertical pressure on the top surface of the orange block to secure the assembly."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00030", "text": "Right hand: retreat: Right hand moves upward and backward while empty, moving away from the stacked building blocks on the dark table surface."}, {"label": "home", "start_step": 1528, "end_step": 1562, "id": "6c6_cl_1TIvZR7fof5GFT"}, {"label": "subtasks", "start_step": 1538, "end_step": 1562, "id": "reasoning-language-00031", "text": "Left hand: other:move_upward_backward: Left hand moves upward and backward while empty, with fingers spreading slightly as it moves. | Right hand: retreat: Right hand moves upward and backward while empty, moving away from the stacked building blocks on the dark table surface."}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 97, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from its initial right upper position toward the small green cubic Lego block on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 98, "end_step": 201, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around the small green cubic Lego block, making slight finger and wrist adjustments to establish a stable grasp while the block remains on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00003", "text": "Right hand: lift_transport: Right hand lifts the grasped small green cubic Lego block off the table surface, then moves it horizontally to position it above the long green rectangular Lego block."}, {"label": "subtasks", "start_step": 232, "end_step": 351, "id": "reasoning-language-00004", "text": "Right hand: mate: Right hand aligns the held small green cubic Lego block with the connection studs on the long green rectangular Lego block, pressing slightly to fit the two blocks into an assembled state."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00005", "text": "Right hand: release: Right hand opens its fingers to release the assembled small green Lego block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00006", "text": "Right hand: reach: Right hand moves right toward the blue building block on the dark flat surface, with fingers held open and extended."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand closes fingers around the blue building block, making small grip adjustments while the block remains resting on the dark surface."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00008", "text": "Right hand: lift_transport: Right hand lifts the grasped blue building block off the dark surface while moving left to carry the block toward the stacked green building blocks."}, {"label": "subtasks", "start_step": 480, "end_step": 539, "id": "reasoning-language-00009", "text": "Right hand: mate: Right hand aligns the held blue building block with the top of the green building block stack, pressing down to fit the blocks together in an assembled position."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00010", "text": "Right hand: hold: Right hand holds the blue building block fitted on top of the green stack without any visible movement."}, {"label": "subtasks", "start_step": 562, "end_step": 569, "id": "reasoning-language-00011", "text": "Right hand: release: Right hand opens fingers to release grip on the blue building block."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00012", "text": "Right hand: grasp: Right hand closes fingers to establish a stable grasp on the dark blue block placed next to the stacked green blocks."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Right hand: push_release: Right hand pushes the grasped blue block rightward across the table surface, then opens fingers to release the block onto the table."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00014", "text": "Right hand: retreat: Right hand moves empty upward and away from the released blue block on the table."}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00015", "text": "Right hand: reach_grasp: Right hand moves empty back down toward the blue block, then closes fingers to grasp the block with small finger adjustments for a secure hold."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00016", "text": "Right hand: reorient_release: Right hand rotates the grasped blue block approximately 90 degrees to turn its studded surface upward, then opens fingers to release the reoriented block onto the table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 831, "id": "reasoning-language-00017", "text": "Right hand: reach_grasp: Right hand moves toward the blue block resting on the dark table surface, closes fingers around the block and makes slight finger and wrist adjustments to form a stable grip, with the block remaining on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00018", "text": "Right hand: lift_transport: Right hand lifts the grasped blue block completely off the table surface, moving the block leftward toward the nearby long green block."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00019", "text": "Right hand: mate: Right hand lowers the blue block to the table surface, adjusting the block's position and orientation to align it flush against the side of the long green block."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00020", "text": "Right hand: hold: Right hand holds the aligned blue block steadily against the long green block on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00021", "text": "Right hand: release: Right hand opens fingers to release the grasped blue block, beginning to move away from the block's surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1147, "id": "reasoning-language-00022", "text": "Right hand: release: Right hand gradually opens its fingers to release the blue block attached to the stacked green block, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1148, "end_step": 1214, "id": "reasoning-language-00023", "text": "Right hand: reach: Right hand moves left across the dark table surface toward the small orange block, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 1215, "end_step": 1281, "id": "reasoning-language-00024", "text": "Right hand: grasp: Right hand adjusts its finger positions and closes fingers to establish a stable grasp on the orange block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00025", "text": "Right hand: lift: Right hand lifts the grasped orange block vertically upward until the block is completely separated from the dark work surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00026", "text": "Right hand: transport_place: Right hand moves the lifted orange block horizontally to a position above the stacked blocks and lowers the block to rest on the top surface of the underlying green block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1409, "id": "reasoning-language-00027", "text": "Right hand: mate: Right hand adjusts the position of the orange block to align and fit it properly with the underlying green block to form the assembly."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "text": "Right hand: release: Right hand opens its fingers gradually to release its grip on the assembled orange block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00029", "text": "Right hand: press: Right hand uses its extended index finger to apply downward vertical pressure on the top surface of the orange block to secure the assembly."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00030", "text": "Right hand: retreat: Right hand moves upward and backward while empty, moving away from the stacked building blocks on the dark table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1562, "id": "reasoning-language-00031", "text": "Left hand: other:move_upward_backward: Left hand moves upward and backward while empty, with fingers spreading slightly as it moves. | Right hand: retreat: Right hand moves upward and backward while empty, moving away from the stacked building blocks on the dark table surface."}], "episode_index": 2}
+{"source_uid": "5a7a599942172c4e", "num_frames": 3340, "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": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from its initial raised position, empty with fingers extended, approaching the small blue lego block resting on the right area of the black table surface."}, {"label": "valid", "start_step": 0, "end_step": 3300, "id": "cI1PVw6GWn0iJLFO9hNfK"}, {"label": "subtasks", "start_step": 90, "end_step": 427, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the small blue lego block, repeatedly adjusts finger positions and gradually closes fingers to form a stable grip on the block, which stays on the table surface during this period."}, {"label": "subtasks", "start_step": 428, "end_step": 561, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped blue lego block completely off the table surface, then moves the block downward and leftward to the area adjacent to the small orange lego block."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: place: Right hand lowers the grasped blue lego block until it rests stably on the table surface next to the orange lego block, with the block supported by the table."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: reach: Right hand moves left across the dark table surface toward the small green lego block, staying empty without touching any objects during movement."}, {"label": "subtasks", "start_step": 668, "end_step": 861, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the small green lego block on the table, closing fingers gradually to form a stable grip on the block."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the small green lego block upward, raising it until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted small green lego block upward and slightly rightward to a stationary position in the air above the table."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: hold: Right hand holds the small green lego block motionless in the air, with no visible movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: place: Right hand moves the small green lego block downward and slightly leftward toward the table surface to position it for placement."}, {"label": "subtasks", "start_step": 1020, "end_step": 1191, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes around the small green lego block resting on the dark table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1192, "end_step": 1207, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the small green lego block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1289, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: transport: Right hand carries the small green lego block leftward through the air toward the left hand."}, {"label": "subtasks", "start_step": 1290, "end_step": 1297, "id": "reasoning-language-00014", "text": "Left hand: reach_grasp: Left hand moves rightward toward the small green lego block held by the right hand, adjusts its fingers and closes around the block to establish a stable grasp. | Right hand: transport: Right hand carries the small green lego block leftward through the air toward the left hand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1431, "id": "reasoning-language-00015", "text": "Left hand: reach_grasp: Left hand moves rightward toward the small green lego block held by the right hand, adjusts its fingers and closes around the block to establish a stable grasp. | Right hand: hold: Right hand holds the small green lego block steadily in the space between the two hands without noticeable movement."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the small green lego block steadily without noticeable movement as the right hand releases the block. | Right hand: release: Right hand opens its fingers to release the small green lego block, separating from the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00017", "text": "Left hand: place: Left hand holds the small green lego block, moves downward, and places it onto the dark gray table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1515, "end_step": 1589, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the small green lego block resting on the dark gray table surface without any visible movement. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00019", "text": "Left hand: lift: Left hand holds the small green lego block and moves upward to lift it off the dark gray table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1620, "end_step": 1709, "id": "reasoning-language-00020", "text": "Left hand: lift_transport: Left hand lifts the small green lego block off the dark table surface, then transports the block upward and rightward to the position between the two hands. | Right hand: reach: Right hand moves leftward from its initial position near the blue lego block with fingers extended, approaching the small green lego block held by the left hand."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the small green lego block steadily between the two hands without any visible movement of the hand or the block. | Right hand: reach: Right hand moves leftward from its initial position near the blue lego block with fingers extended, approaching the small green lego block held by the left hand."}, {"label": "subtasks", "start_step": 1725, "end_step": 1889, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the small green lego block steadily between the two hands without any visible movement of the hand or the block. | Right hand: grasp: Right hand gradually closes its fingers and adjusts contact points around the small green lego block to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand opens its fingers to release the small green lego block, fully separating from the block by the end of the segment. | Right hand: grasp: Right hand gradually closes its fingers and adjusts contact points around the small green lego block to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1971, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand holds the small green lego block and moves it downward toward the larger green lego block on the black work surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2121, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes small adjustments to its finger grip and the position of the small green lego block resting on the larger green lego block."}, {"label": "subtasks", "start_step": 2122, "end_step": 2219, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the small green lego block steadily on the larger green lego block with no observable movement of the hand, fingers or blocks."}, {"label": "subtasks", "start_step": 2220, "end_step": 2339, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: press: Right hand adjusts its finger position and presses down on the top surface of the small green lego block."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty toward the small blue lego block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2579, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions repeatedly to close around the small blue lego block and establish a stable grip."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped small blue lego block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2654, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the grasped small blue lego block leftward and downward toward the green lego block on the table."}, {"label": "subtasks", "start_step": 2655, "end_step": 2834, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the position of the grasped small blue lego block to align it with the green lego block for assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves toward the small orange lego block on the dark table surface with fingers slightly spread, approaching the target without making contact."}, {"label": "subtasks", "start_step": 2865, "end_step": 3021, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the small orange lego block, making slight adjustments to finger positions to form a stable grasp while the block remains resting on the table."}, {"label": "subtasks", "start_step": 3022, "end_step": 3044, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand moves the grasped small orange lego block vertically upward, lifting the block completely off the dark table surface."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport_place: Right hand moves the grasped small orange lego block leftward to a position above the stacked green and blue lego blocks, lowers the block to rest on the top surface of the blue lego block, supported by the underlying stacked blocks."}, {"label": "subtasks", "start_step": 3060, "end_step": 3074, "id": "reasoning-language-00037", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts finger posture, curling the extended index finger inward to align with other curled fingers. | Right hand: transport_place: Right hand moves the grasped small orange lego block leftward to a position above the stacked green and blue lego blocks, lowers the block to rest on the top surface of the blue lego block, supported by the underlying stacked blocks."}, {"label": "subtasks", "start_step": 3075, "end_step": 3171, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: hold: Right hand holds the small orange lego block steady on top of the stacked green and blue lego blocks, with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 3172, "end_step": 3187, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: release: Right hand opens fingers to release the grasp on the small orange lego block, separating fingers from the block surface."}, {"label": "subtasks", "start_step": 3188, "end_step": 3217, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: idle: Right hand remains empty above the stacked lego blocks with fingers spread, no observable movement."}, {"label": "subtasks", "start_step": 3218, "end_step": 3261, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: press: Right hand presses a finger vertically downward against the top surface of the placed small orange lego block to apply pressure."}, {"label": "subtasks", "start_step": 3262, "end_step": 3269, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: retreat: Right hand lifts the finger off the top surface of the orange lego block, moving slightly upward away from the block."}, {"label": "subtasks", "start_step": 3270, "end_step": 3329, "id": "reasoning-language-00043", "text": "Left hand: return_home: Left hand moves upward back to the home position, with fingers gradually extending, remaining empty throughout the movement. | Right hand: release_return_home: Right hand opens fingers to release the top orange lego block, and moves upward back to the home position."}, {"label": "home", "start_step": 3301, "end_step": 3339, "id": "eGmp5g-SlEs4_FC3Rd1EI"}, {"label": "subtasks", "start_step": 3330, "end_step": 3339, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the home position with extended fingers without moving. | Right hand: idle: Right hand remains empty at the home position without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from its initial raised position, empty with fingers extended, approaching the small blue lego block resting on the right area of the black table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 427, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the small blue lego block, repeatedly adjusts finger positions and gradually closes fingers to form a stable grip on the block, which stays on the table surface during this period."}, {"label": "subtasks", "start_step": 428, "end_step": 561, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped blue lego block completely off the table surface, then moves the block downward and leftward to the area adjacent to the small orange lego block."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: place: Right hand lowers the grasped blue lego block until it rests stably on the table surface next to the orange lego block, with the block supported by the table."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: reach: Right hand moves left across the dark table surface toward the small green lego block, staying empty without touching any objects during movement."}, {"label": "subtasks", "start_step": 668, "end_step": 861, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the small green lego block on the table, closing fingers gradually to form a stable grip on the block."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the small green lego block upward, raising it until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted small green lego block upward and slightly rightward to a stationary position in the air above the table."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: hold: Right hand holds the small green lego block motionless in the air, with no visible movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: place: Right hand moves the small green lego block downward and slightly leftward toward the table surface to position it for placement."}, {"label": "subtasks", "start_step": 1020, "end_step": 1191, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes around the small green lego block resting on the dark table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1192, "end_step": 1207, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the small green lego block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1289, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: transport: Right hand carries the small green lego block leftward through the air toward the left hand."}, {"label": "subtasks", "start_step": 1290, "end_step": 1297, "id": "reasoning-language-00014", "text": "Left hand: reach_grasp: Left hand moves rightward toward the small green lego block held by the right hand, adjusts its fingers and closes around the block to establish a stable grasp. | Right hand: transport: Right hand carries the small green lego block leftward through the air toward the left hand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1431, "id": "reasoning-language-00015", "text": "Left hand: reach_grasp: Left hand moves rightward toward the small green lego block held by the right hand, adjusts its fingers and closes around the block to establish a stable grasp. | Right hand: hold: Right hand holds the small green lego block steadily in the space between the two hands without noticeable movement."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the small green lego block steadily without noticeable movement as the right hand releases the block. | Right hand: release: Right hand opens its fingers to release the small green lego block, separating from the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00017", "text": "Left hand: place: Left hand holds the small green lego block, moves downward, and places it onto the dark gray table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1515, "end_step": 1589, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the small green lego block resting on the dark gray table surface without any visible movement. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00019", "text": "Left hand: lift: Left hand holds the small green lego block and moves upward to lift it off the dark gray table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1620, "end_step": 1709, "id": "reasoning-language-00020", "text": "Left hand: lift_transport: Left hand lifts the small green lego block off the dark table surface, then transports the block upward and rightward to the position between the two hands. | Right hand: reach: Right hand moves leftward from its initial position near the blue lego block with fingers extended, approaching the small green lego block held by the left hand."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the small green lego block steadily between the two hands without any visible movement of the hand or the block. | Right hand: reach: Right hand moves leftward from its initial position near the blue lego block with fingers extended, approaching the small green lego block held by the left hand."}, {"label": "subtasks", "start_step": 1725, "end_step": 1889, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the small green lego block steadily between the two hands without any visible movement of the hand or the block. | Right hand: grasp: Right hand gradually closes its fingers and adjusts contact points around the small green lego block to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand opens its fingers to release the small green lego block, fully separating from the block by the end of the segment. | Right hand: grasp: Right hand gradually closes its fingers and adjusts contact points around the small green lego block to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1971, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand holds the small green lego block and moves it downward toward the larger green lego block on the black work surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2121, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes small adjustments to its finger grip and the position of the small green lego block resting on the larger green lego block."}, {"label": "subtasks", "start_step": 2122, "end_step": 2219, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the small green lego block steadily on the larger green lego block with no observable movement of the hand, fingers or blocks."}, {"label": "subtasks", "start_step": 2220, "end_step": 2339, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: press: Right hand adjusts its finger position and presses down on the top surface of the small green lego block."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty toward the small blue lego block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2579, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions repeatedly to close around the small blue lego block and establish a stable grip."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped small blue lego block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2654, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the grasped small blue lego block leftward and downward toward the green lego block on the table."}, {"label": "subtasks", "start_step": 2655, "end_step": 2834, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the position of the grasped small blue lego block to align it with the green lego block for assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves toward the small orange lego block on the dark table surface with fingers slightly spread, approaching the target without making contact."}, {"label": "subtasks", "start_step": 2865, "end_step": 3021, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the small orange lego block, making slight adjustments to finger positions to form a stable grasp while the block remains resting on the table."}, {"label": "subtasks", "start_step": 3022, "end_step": 3044, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand moves the grasped small orange lego block vertically upward, lifting the block completely off the dark table surface."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport_place: Right hand moves the grasped small orange lego block leftward to a position above the stacked green and blue lego blocks, lowers the block to rest on the top surface of the blue lego block, supported by the underlying stacked blocks."}, {"label": "subtasks", "start_step": 3060, "end_step": 3074, "id": "reasoning-language-00037", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts finger posture, curling the extended index finger inward to align with other curled fingers. | Right hand: transport_place: Right hand moves the grasped small orange lego block leftward to a position above the stacked green and blue lego blocks, lowers the block to rest on the top surface of the blue lego block, supported by the underlying stacked blocks."}, {"label": "subtasks", "start_step": 3075, "end_step": 3171, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: hold: Right hand holds the small orange lego block steady on top of the stacked green and blue lego blocks, with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 3172, "end_step": 3187, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: release: Right hand opens fingers to release the grasp on the small orange lego block, separating fingers from the block surface."}, {"label": "subtasks", "start_step": 3188, "end_step": 3217, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: idle: Right hand remains empty above the stacked lego blocks with fingers spread, no observable movement."}, {"label": "subtasks", "start_step": 3218, "end_step": 3261, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: press: Right hand presses a finger vertically downward against the top surface of the placed small orange lego block to apply pressure."}, {"label": "subtasks", "start_step": 3262, "end_step": 3269, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: retreat: Right hand lifts the finger off the top surface of the orange lego block, moving slightly upward away from the block."}, {"label": "subtasks", "start_step": 3270, "end_step": 3329, "id": "reasoning-language-00043", "text": "Left hand: return_home: Left hand moves upward back to the home position, with fingers gradually extending, remaining empty throughout the movement. | Right hand: release_return_home: Right hand opens fingers to release the top orange lego block, and moves upward back to the home position."}, {"label": "subtasks", "start_step": 3330, "end_step": 3339, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the home position with extended fingers without moving. | Right hand: idle: Right hand remains empty at the home position without moving."}], "episode_index": 3}
+{"source_uid": "526de8d1f899b779", "num_frames": 1602, "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": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its hand posture with fingers opening at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block located in the middle of the black table."}, {"label": "valid", "start_step": 0, "end_step": 1558, "id": "BB4H3thsapmBydQ1APQfo"}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block located in the middle of the black table."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue block on the black table."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts finger positions to establish stable grasp on the small green block on the black table."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift: Right hand lifts the grasped small green block away from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the green block on the black table, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the orange block on the black tabletop."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach_grasp: Right hand reaches for and grasps the blue block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: push: Right hand pushes the blue block towards the green block on the black table."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reorient: Right hand flips the blue block to adjust its orientation on the dark table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift_transport: Right hand lifts the blue block from the table and transports it above the green block."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: place: Right hand places the blue block onto the top of the green block."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the blue block."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: transport: Right hand holds the blue block and moves it rightwards in the air."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: place_release: Right hand places the blue block on the black table then releases it, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block on the black table."}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the blue block placed on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: transport: Right hand moves the grasped blue block towards the green block on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the green-blue stacked block on the table, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the orange block on the table, remaining empty during movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand grasps the orange block on the table, fingers close to contact the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the orange block on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift_transport: Right hand lifts the orange block from the table and transports it towards the green and blue stacked block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: mate: Right hand aligns and places the orange block onto the top of the green and blue stacked block to complete assembly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1537, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the stacked colorful building blocks on the black table, with fingers gradually opening to detach from the blocks."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: retreat: Right hand retreats away from the stacked building blocks after releasing the grip."}, {"label": "home", "start_step": 1559, "end_step": 1601, "id": "sa_TlT1hibQBWt8xsynVC"}, {"label": "subtasks", "start_step": 1560, "end_step": 1601, "id": "reasoning-language-00033", "text": "Left hand: return_home: Left hand retracts and stops at its initial position on the left side of the table. | Right hand: return_home: Right hand retracts and stops at its initial position on the right side of the table."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its hand posture with fingers opening at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block located in the middle of the black table."}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block located in the middle of the black table."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue block on the black table."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts finger positions to establish stable grasp on the small green block on the black table."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift: Right hand lifts the grasped small green block away from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the green block on the black table, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the orange block on the black tabletop."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach_grasp: Right hand reaches for and grasps the blue block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: push: Right hand pushes the blue block towards the green block on the black table."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reorient: Right hand flips the blue block to adjust its orientation on the dark table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift_transport: Right hand lifts the blue block from the table and transports it above the green block."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: place: Right hand places the blue block onto the top of the green block."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the blue block."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: transport: Right hand holds the blue block and moves it rightwards in the air."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: place_release: Right hand places the blue block on the black table then releases it, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block on the black table."}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the blue block placed on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: transport: Right hand moves the grasped blue block towards the green block on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the green-blue stacked block on the table, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the orange block on the table, remaining empty during movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand grasps the orange block on the table, fingers close to contact the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the orange block on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift_transport: Right hand lifts the orange block from the table and transports it towards the green and blue stacked block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: mate: Right hand aligns and places the orange block onto the top of the green and blue stacked block to complete assembly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1537, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the stacked colorful building blocks on the black table, with fingers gradually opening to detach from the blocks."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: retreat: Right hand retreats away from the stacked building blocks after releasing the grip."}, {"label": "subtasks", "start_step": 1560, "end_step": 1601, "id": "reasoning-language-00033", "text": "Left hand: return_home: Left hand retracts and stops at its initial position on the left side of the table. | Right hand: return_home: Right hand retracts and stops at its initial position on the right side of the table."}], "episode_index": 4}
+{"source_uid": "54a9c680d5ee86a0", "num_frames": 1671, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1635, "id": "UlNzEDxUg74FCVo1eaWET"}, {"label": "subtasks", "start_step": 15, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger and wrist posture above the left side of the table, without contacting any objects. | Right hand: reach: Right hand moves downward toward the Lego bricks placed on the central table area, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 52, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves downward toward the Lego bricks placed on the central table area, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand makes minor continuous adjustments to its finger positions around the adjacent blue and small green Lego bricks to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand stays in contact with the small green 2x2 plastic block on the dark flat surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: other:nudge_block: Right hand moves its fingers to nudge the small green 2x2 plastic block, causing the block to shift slightly across the dark flat surface."}, {"label": "subtasks", "start_step": 240, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand remains in contact with the small green 2x2 plastic block, with no visible movement of the hand or the block on the dark flat surface."}, {"label": "subtasks", "start_step": 352, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: other:nudge_block: Right hand moves its fingers to nudge the small green 2x2 plastic block, adjusting the block's position with small shifts across the dark flat surface."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls fingers to close around the small 2x2 light green lego block on the black work surface, making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_transport: Right hand lifts the gripped small 2x2 light green lego block completely off the black work surface and moves it horizontally toward the nearby cluster of lego pieces."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: place: Right hand lowers the small 2x2 light green lego block and sets it onto the top surface of the longer light green lego block until the block is supported by the longer piece."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand holds the small 2x2 light green lego block on top of the longer light green lego block without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 525, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: mate_release: Right hand makes small finger and wrist adjustments to align the small 2x2 light green lego block with the longer green lego block beneath it, releasing contact with the aligned block."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: retreat: Right hand moves empty upward and slightly left away from the stacked green lego blocks."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves empty downward toward the blue 2x2 lego block resting on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 675, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls its fingers to adjust contact and establish a stable grasp on the blue 2x2 lego block resting on the dark table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_transport: Right hand lifts the grasped blue 2x2 lego block completely off the dark table surface and moves it toward the area next to the green lego block."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: place: Right hand lowers the grasped blue 2x2 lego block down to the dark table surface adjacent to the green lego block, positioning it to rest stably on the surface."}, {"label": "subtasks", "start_step": 825, "end_step": 951, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand adjusts finger positions on the blue 2x2 lego block to establish a stable grip, with small finger movements to reposition contact points."}, {"label": "subtasks", "start_step": 952, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: push: Right hand pushes the blue 2x2 lego block to slide across the dark table surface toward the adjacent green lego block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1199, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: press: Right hand presses down on the blue 2x2 lego block against the table surface to fine-tune its final position next to the green lego block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves right toward the orange 2x2 lego block on the dark work surface, with fingers held slightly open during the movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1379, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand makes small continuous adjustments to finger positions and wrist orientation to establish and stabilize contact with the orange 2x2 lego block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls fingers around the orange 2x2 lego block on the dark table surface, adjusting grip to form a stable hold on the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_place: Right hand lifts the orange 2x2 lego block off the dark table surface, shifts it a short distance left to rest on top of the stacked green and blue lego blocks."}, {"label": "subtasks", "start_step": 1432, "end_step": 1529, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: mate: Right hand adjusts the orange lego block on the stacked blocks with slight wiggling motions to align its connection points with the blocks below for assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: release_retreat: Right hand opens fingers to release grasp on the orange lego block, moves a short distance upward away from the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach_press: Right hand moves down to the orange lego block, applies downward pressure on the block's top surface to secure it to the stacked blocks below."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: retreat: Right hand lifts its finger off the orange lego block's top surface, moves upward away from the assembled lego stack."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: return_home: Left hand stays empty, moves upward and backward toward its initial raised position on the left, with fingers adjusting to an extended open posture during the movement. | Right hand: return_home: Right hand stays empty, moves upward and backward toward its initial raised position on the right, with fingers adjusting to an extended open posture during the movement."}, {"label": "home", "start_step": 1636, "end_step": 1670, "id": "3IDz5u1pkLxn2bUbz8mPJ"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger and wrist posture above the left side of the table, without contacting any objects. | Right hand: reach: Right hand moves downward toward the Lego bricks placed on the central table area, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 52, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves downward toward the Lego bricks placed on the central table area, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand makes minor continuous adjustments to its finger positions around the adjacent blue and small green Lego bricks to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand stays in contact with the small green 2x2 plastic block on the dark flat surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: other:nudge_block: Right hand moves its fingers to nudge the small green 2x2 plastic block, causing the block to shift slightly across the dark flat surface."}, {"label": "subtasks", "start_step": 240, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand remains in contact with the small green 2x2 plastic block, with no visible movement of the hand or the block on the dark flat surface."}, {"label": "subtasks", "start_step": 352, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: other:nudge_block: Right hand moves its fingers to nudge the small green 2x2 plastic block, adjusting the block's position with small shifts across the dark flat surface."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls fingers to close around the small 2x2 light green lego block on the black work surface, making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_transport: Right hand lifts the gripped small 2x2 light green lego block completely off the black work surface and moves it horizontally toward the nearby cluster of lego pieces."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: place: Right hand lowers the small 2x2 light green lego block and sets it onto the top surface of the longer light green lego block until the block is supported by the longer piece."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand holds the small 2x2 light green lego block on top of the longer light green lego block without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 525, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: mate_release: Right hand makes small finger and wrist adjustments to align the small 2x2 light green lego block with the longer green lego block beneath it, releasing contact with the aligned block."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: retreat: Right hand moves empty upward and slightly left away from the stacked green lego blocks."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves empty downward toward the blue 2x2 lego block resting on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 675, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls its fingers to adjust contact and establish a stable grasp on the blue 2x2 lego block resting on the dark table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_transport: Right hand lifts the grasped blue 2x2 lego block completely off the dark table surface and moves it toward the area next to the green lego block."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: place: Right hand lowers the grasped blue 2x2 lego block down to the dark table surface adjacent to the green lego block, positioning it to rest stably on the surface."}, {"label": "subtasks", "start_step": 825, "end_step": 951, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand adjusts finger positions on the blue 2x2 lego block to establish a stable grip, with small finger movements to reposition contact points."}, {"label": "subtasks", "start_step": 952, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: push: Right hand pushes the blue 2x2 lego block to slide across the dark table surface toward the adjacent green lego block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1199, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: press: Right hand presses down on the blue 2x2 lego block against the table surface to fine-tune its final position next to the green lego block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves right toward the orange 2x2 lego block on the dark work surface, with fingers held slightly open during the movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1379, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand makes small continuous adjustments to finger positions and wrist orientation to establish and stabilize contact with the orange 2x2 lego block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls fingers around the orange 2x2 lego block on the dark table surface, adjusting grip to form a stable hold on the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_place: Right hand lifts the orange 2x2 lego block off the dark table surface, shifts it a short distance left to rest on top of the stacked green and blue lego blocks."}, {"label": "subtasks", "start_step": 1432, "end_step": 1529, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: mate: Right hand adjusts the orange lego block on the stacked blocks with slight wiggling motions to align its connection points with the blocks below for assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: release_retreat: Right hand opens fingers to release grasp on the orange lego block, moves a short distance upward away from the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach_press: Right hand moves down to the orange lego block, applies downward pressure on the block's top surface to secure it to the stacked blocks below."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: retreat: Right hand lifts its finger off the orange lego block's top surface, moves upward away from the assembled lego stack."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: return_home: Left hand stays empty, moves upward and backward toward its initial raised position on the left, with fingers adjusting to an extended open posture during the movement. | Right hand: return_home: Right hand stays empty, moves upward and backward toward its initial raised position on the right, with fingers adjusting to an extended open posture during the movement."}], "episode_index": 5}
+{"source_uid": "324d7ee9553d8197", "num_frames": 1161, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1121, "id": "hcHrs_Se6UrnseLwKbI--"}, {"label": "subtasks", "start_step": 15, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:minor_finger_adjustment: Left hand makes minor positional adjustments to its fingers while remaining stationary in the upper left area, making no contact with any objects. | Right hand: reach: Right hand moves downward toward the small green lego block placed on the dark table surface, with fingers held in an open position."}, {"label": "subtasks", "start_step": 30, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach: Right hand moves downward toward the small green lego block placed on the dark table surface, with fingers held in an open position."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: grasp: Right hand makes fine finger adjustments to close around and form a grip on the small green lego block that remains resting on the table."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift: Right hand moves upward while securely holding the small green lego block, lifting the block fully off the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: transport_place: Right hand holds the small green 2x2 lego brick, moves it slightly down and right, and places it onto the larger green lego brick resting on the dark flat surface."}, {"label": "subtasks", "start_step": 292, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: hold: Right hand holds the small green 2x2 lego brick steadily on top of the larger green lego brick with no observable movement of the hand or the bricks."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: release: Right hand opens fingers to release the small green 2x2 lego brick, with the index finger lifting slightly away from the brick's top surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach: Right hand moves while empty toward the small blue 2x2 lego brick on the dark gray surface, without making contact with the brick."}, {"label": "subtasks", "start_step": 435, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the small blue 2x2 lego brick, forming a stable grasp while the brick remains resting on the dark surface."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift: Right hand lifts the grasped blue 2x2 lego brick upward, fully lifting the brick off the dark supporting surface."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: transport: Right hand carries the lifted blue lego brick leftward through the air, moving it to the position directly above the adjacent green lego brick."}, {"label": "subtasks", "start_step": 600, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: mate_release: Right hand aligns the held blue 2x2 lego brick with the green lego brick below, presses downward to fit the two bricks together into a connected assembly, opens fingers to release the assembled blue brick and separates from the brick surface."}, {"label": "subtasks", "start_step": 705, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach_grasp: Right hand moves toward the small orange 2x2 lego brick resting on the dark flat surface, closes fingers around the brick while making slight adjustments to finger positions and wrist posture to form a stable grasp, with the brick remaining on the dark support surface."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped small orange 2x2 lego brick completely off the dark support surface, moves it leftward toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: place: Right hand lowers the small orange 2x2 lego brick onto the top surface of the stacked blue and green lego bricks until the brick is stably supported by the target structure."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: hold: Right hand holds the small orange 2x2 lego brick steadily on top of the stacked blue and green lego bricks, with no observable movement of the hand or the brick."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: release: Right hand releases the stacked lego blocks on the dark flat surface, with fingers adjusting position around the stack, the index finger applying light pressure to the top orange lego brick, and fingers opening to separate from the lego stack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: return_home: Right hand moves upward and backward from the position above the lego stack back to its right-side home position, and stops steadily at the home position."}, {"label": "home", "start_step": 1122, "end_step": 1160, "id": "TkQt-vMUyNZAjawFP6tG7"}, {"label": "subtasks", "start_step": 1132, "end_step": 1160, "id": "reasoning-language-00019", "text": "Left hand: return_home: Left hand moves downward from the upper left position back to its left-side home position, with fingers slightly spreading, and stops steadily at the home position. | Right hand: return_home: Right hand moves upward and backward from the position above the lego stack back to its right-side home position, and stops steadily at the home position."}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:minor_finger_adjustment: Left hand makes minor positional adjustments to its fingers while remaining stationary in the upper left area, making no contact with any objects. | Right hand: reach: Right hand moves downward toward the small green lego block placed on the dark table surface, with fingers held in an open position."}, {"label": "subtasks", "start_step": 30, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach: Right hand moves downward toward the small green lego block placed on the dark table surface, with fingers held in an open position."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: grasp: Right hand makes fine finger adjustments to close around and form a grip on the small green lego block that remains resting on the table."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift: Right hand moves upward while securely holding the small green lego block, lifting the block fully off the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: transport_place: Right hand holds the small green 2x2 lego brick, moves it slightly down and right, and places it onto the larger green lego brick resting on the dark flat surface."}, {"label": "subtasks", "start_step": 292, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: hold: Right hand holds the small green 2x2 lego brick steadily on top of the larger green lego brick with no observable movement of the hand or the bricks."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: release: Right hand opens fingers to release the small green 2x2 lego brick, with the index finger lifting slightly away from the brick's top surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach: Right hand moves while empty toward the small blue 2x2 lego brick on the dark gray surface, without making contact with the brick."}, {"label": "subtasks", "start_step": 435, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the small blue 2x2 lego brick, forming a stable grasp while the brick remains resting on the dark surface."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift: Right hand lifts the grasped blue 2x2 lego brick upward, fully lifting the brick off the dark supporting surface."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: transport: Right hand carries the lifted blue lego brick leftward through the air, moving it to the position directly above the adjacent green lego brick."}, {"label": "subtasks", "start_step": 600, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: mate_release: Right hand aligns the held blue 2x2 lego brick with the green lego brick below, presses downward to fit the two bricks together into a connected assembly, opens fingers to release the assembled blue brick and separates from the brick surface."}, {"label": "subtasks", "start_step": 705, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach_grasp: Right hand moves toward the small orange 2x2 lego brick resting on the dark flat surface, closes fingers around the brick while making slight adjustments to finger positions and wrist posture to form a stable grasp, with the brick remaining on the dark support surface."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped small orange 2x2 lego brick completely off the dark support surface, moves it leftward toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: place: Right hand lowers the small orange 2x2 lego brick onto the top surface of the stacked blue and green lego bricks until the brick is stably supported by the target structure."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: hold: Right hand holds the small orange 2x2 lego brick steadily on top of the stacked blue and green lego bricks, with no observable movement of the hand or the brick."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: release: Right hand releases the stacked lego blocks on the dark flat surface, with fingers adjusting position around the stack, the index finger applying light pressure to the top orange lego brick, and fingers opening to separate from the lego stack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: return_home: Right hand moves upward and backward from the position above the lego stack back to its right-side home position, and stops steadily at the home position."}, {"label": "subtasks", "start_step": 1132, "end_step": 1160, "id": "reasoning-language-00019", "text": "Left hand: return_home: Left hand moves downward from the upper left position back to its left-side home position, with fingers slightly spreading, and stops steadily at the home position. | Right hand: return_home: Right hand moves upward and backward from the position above the lego stack back to its right-side home position, and stops steadily at the home position."}], "episode_index": 6}
+{"source_uid": "2aa2fca4a46fe51d", "num_frames": 1698, "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": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the small green block on the black table."}, {"label": "valid", "start_step": 0, "end_step": 1664, "id": "p1eW6UDqEPr-jWQR65XeF"}, {"label": "subtasks", "start_step": 98, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the small green block on the black table."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green block away from the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand carries the small green block and moves toward the left side of the table."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: reach: Left hand moves toward the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block steadily without obvious movement."}, {"label": "subtasks", "start_step": 308, "end_step": 427, "id": "reasoning-language-00006", "text": "Left hand: grasp: Left hand adjusts fingers and closes to grasp the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block steadily without obvious movement."}, {"label": "subtasks", "start_step": 428, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand adjusts fingers and closes to grasp the small green block held by the right hand. | Right hand: release: Right hand releases the small green block, separating fingers from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: place: Left hand moves downward to place the small green block onto the table surface. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: release: Left hand opens fingers to release the small green block, separating from the block. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: retreat: Left hand moves upward away from the placed small green block. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00011", "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 small green block on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 621, "id": "reasoning-language-00012", "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 around the small green block and makes slight adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 622, "end_step": 727, "id": "reasoning-language-00013", "text": "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 block from the table and transports it above the long green block."}, {"label": "subtasks", "start_step": 728, "end_step": 907, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the position of the small green block to align it with the top surface of the long green block for assembly."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00015", "text": "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 block onto the top of the long green block."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens its fingers to release the small green block."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00017", "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 blue block placed on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift: Right hand lifts the blue block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1207, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand moves the held blue block toward the green block on the table."}, {"label": "subtasks", "start_step": 1208, "end_step": 1297, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand assembles the blue block onto the top of the green block by pressing slightly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the blue block, with fingers separating from the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00023", "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 block on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand closes fingers around the orange block, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00025", "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 block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand carries the orange block leftward toward the green-blue block on the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00027", "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 block onto the top of the green-blue block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1551, "id": "reasoning-language-00028", "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 block down to mate with the green-blue block below."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens fingers to release the orange block."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves away from the assembled blocks toward the right side."}, {"label": "subtasks", "start_step": 1650, "end_step": 1697, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving."}, {"label": "home", "start_step": 1665, "end_step": 1697, "id": "pz_gtEFEk8ptUr7DiE-5n"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the small green block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the small green block on the black table."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green block away from the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand carries the small green block and moves toward the left side of the table."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: reach: Left hand moves toward the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block steadily without obvious movement."}, {"label": "subtasks", "start_step": 308, "end_step": 427, "id": "reasoning-language-00006", "text": "Left hand: grasp: Left hand adjusts fingers and closes to grasp the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block steadily without obvious movement."}, {"label": "subtasks", "start_step": 428, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand adjusts fingers and closes to grasp the small green block held by the right hand. | Right hand: release: Right hand releases the small green block, separating fingers from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: place: Left hand moves downward to place the small green block onto the table surface. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: release: Left hand opens fingers to release the small green block, separating from the block. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: retreat: Left hand moves upward away from the placed small green block. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00011", "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 small green block on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 621, "id": "reasoning-language-00012", "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 around the small green block and makes slight adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 622, "end_step": 727, "id": "reasoning-language-00013", "text": "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 block from the table and transports it above the long green block."}, {"label": "subtasks", "start_step": 728, "end_step": 907, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the position of the small green block to align it with the top surface of the long green block for assembly."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00015", "text": "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 block onto the top of the long green block."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens its fingers to release the small green block."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00017", "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 blue block placed on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift: Right hand lifts the blue block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1207, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand moves the held blue block toward the green block on the table."}, {"label": "subtasks", "start_step": 1208, "end_step": 1297, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand assembles the blue block onto the top of the green block by pressing slightly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the blue block, with fingers separating from the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00023", "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 block on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand closes fingers around the orange block, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00025", "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 block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand carries the orange block leftward toward the green-blue block on the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00027", "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 block onto the top of the green-blue block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1551, "id": "reasoning-language-00028", "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 block down to mate with the green-blue block below."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens fingers to release the orange block."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves away from the assembled blocks toward the right side."}, {"label": "subtasks", "start_step": 1650, "end_step": 1697, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving."}], "episode_index": 7}
+{"source_uid": "45e57db528a33e70", "num_frames": 1175, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1135, "id": "2DnK34ekecSJXlHLLVPVU"}, {"label": "subtasks", "start_step": 15, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward toward the small green lego brick on the black table, with fingers extended and slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 112, "end_step": 344, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the small green lego brick, adjusting finger positions and wrist orientation around the brick to secure a grip while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts finger positions to close around the small green lego brick on the dark surface, forming a stable grip on the brick."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00004", "text": "Right hand: hold: Right hand holds the small green lego brick steadily on the dark surface without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the small green lego brick upward, completely separating it from the dark supporting surface."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand carries the small green lego brick toward the larger green lego brick, rotating the brick slightly to adjust its orientation during movement."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00007", "text": "Right hand: place: Right hand lowers the small green lego brick onto the surface of the larger green lego brick until the small brick is stably supported."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00008", "text": "Right hand: release: Right hand opens its fingers to release the small green lego brick, separating the hand from the brick."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00009", "text": "Right hand: reach: Right hand moves toward the blue lego brick on the dark flat surface while empty, approaching the target object."}, {"label": "subtasks", "start_step": 668, "end_step": 734, "id": "reasoning-language-00010", "text": "Right hand: grasp: Right hand closes fingers around the blue lego brick, making small adjustments to finger positions to establish a stable grip, with the brick remaining on the dark surface."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00011", "text": "Right hand: lift: Right hand lifts the grasped blue lego brick upward, raising it completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00012", "text": "Right hand: transport: Right hand carries the lifted blue lego brick horizontally leftward, moving it directly over the adjacent green lego brick."}, {"label": "subtasks", "start_step": 772, "end_step": 884, "id": "reasoning-language-00013", "text": "Right hand: mate: Right hand aligns the blue lego brick with the connection studs on the green lego brick, making slight positional adjustments and pressing down to fit the two bricks together securely."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00014", "text": "Right hand: release: Right hand opens its fingers to release the assembled blue lego brick, separating the hand from the brick."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00015", "text": "Right hand: reach: Right hand moves right toward the orange lego brick on the dark flat surface, with fingers held in a slightly extended position."}, {"label": "subtasks", "start_step": 945, "end_step": 997, "id": "reasoning-language-00016", "text": "Right hand: grasp: Right hand closes fingers around the orange lego brick, making small finger and wrist adjustments to form a stable grip while the brick stays on the dark surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00017", "text": "Right hand: lift_transport: Right hand lifts the orange lego brick fully off the dark surface, then moves the brick left toward the stacked green and blue lego bricks with slight wrist rotation."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00018", "text": "Right hand: place: Right hand lowers the orange lego brick onto the top of the stacked lego bricks, adjusting position slightly until the brick is fully supported by the stack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00019", "text": "Right hand: release: Right hand opens its fingers to release the orange lego brick resting securely on the lego stack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00020", "text": "Right hand: retreat: Right hand moves right away from the stacked lego bricks, remaining empty as it withdraws."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00021", "text": "Left hand: return_home: Left hand remains empty, moves upward back to its initial raised home position with slight finger adjustments during the movement. | Right hand: return_home: Right hand remains empty, moves upward back to its initial raised home position with slight finger adjustments during the movement."}, {"label": "home", "start_step": 1136, "end_step": 1174, "id": "QQ2hgaNGQzi0URXy7Df-b"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward toward the small green lego brick on the black table, with fingers extended and slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 112, "end_step": 344, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the small green lego brick, adjusting finger positions and wrist orientation around the brick to secure a grip while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts finger positions to close around the small green lego brick on the dark surface, forming a stable grip on the brick."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00004", "text": "Right hand: hold: Right hand holds the small green lego brick steadily on the dark surface without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the small green lego brick upward, completely separating it from the dark supporting surface."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand carries the small green lego brick toward the larger green lego brick, rotating the brick slightly to adjust its orientation during movement."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00007", "text": "Right hand: place: Right hand lowers the small green lego brick onto the surface of the larger green lego brick until the small brick is stably supported."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00008", "text": "Right hand: release: Right hand opens its fingers to release the small green lego brick, separating the hand from the brick."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00009", "text": "Right hand: reach: Right hand moves toward the blue lego brick on the dark flat surface while empty, approaching the target object."}, {"label": "subtasks", "start_step": 668, "end_step": 734, "id": "reasoning-language-00010", "text": "Right hand: grasp: Right hand closes fingers around the blue lego brick, making small adjustments to finger positions to establish a stable grip, with the brick remaining on the dark surface."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00011", "text": "Right hand: lift: Right hand lifts the grasped blue lego brick upward, raising it completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00012", "text": "Right hand: transport: Right hand carries the lifted blue lego brick horizontally leftward, moving it directly over the adjacent green lego brick."}, {"label": "subtasks", "start_step": 772, "end_step": 884, "id": "reasoning-language-00013", "text": "Right hand: mate: Right hand aligns the blue lego brick with the connection studs on the green lego brick, making slight positional adjustments and pressing down to fit the two bricks together securely."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00014", "text": "Right hand: release: Right hand opens its fingers to release the assembled blue lego brick, separating the hand from the brick."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00015", "text": "Right hand: reach: Right hand moves right toward the orange lego brick on the dark flat surface, with fingers held in a slightly extended position."}, {"label": "subtasks", "start_step": 945, "end_step": 997, "id": "reasoning-language-00016", "text": "Right hand: grasp: Right hand closes fingers around the orange lego brick, making small finger and wrist adjustments to form a stable grip while the brick stays on the dark surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00017", "text": "Right hand: lift_transport: Right hand lifts the orange lego brick fully off the dark surface, then moves the brick left toward the stacked green and blue lego bricks with slight wrist rotation."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00018", "text": "Right hand: place: Right hand lowers the orange lego brick onto the top of the stacked lego bricks, adjusting position slightly until the brick is fully supported by the stack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00019", "text": "Right hand: release: Right hand opens its fingers to release the orange lego brick resting securely on the lego stack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00020", "text": "Right hand: retreat: Right hand moves right away from the stacked lego bricks, remaining empty as it withdraws."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00021", "text": "Left hand: return_home: Left hand remains empty, moves upward back to its initial raised home position with slight finger adjustments during the movement. | Right hand: return_home: Right hand remains empty, moves upward back to its initial raised home position with slight finger adjustments during the movement."}], "episode_index": 8}
+{"source_uid": "59432904fdb5cb3c", "num_frames": 1032, "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": 44, "id": "reasoning-language-00001", "text": "Left hand: other:extend_fingers: Left hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand. | Right hand: other:extend_fingers: Right hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand."}, {"label": "valid", "start_step": 0, "end_step": 995, "id": "3ZeVsnyN2yVWcOvemisji"}, {"label": "subtasks", "start_step": 45, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: other:extend_fingers: Right hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand moves downward toward the lego blocks placed on the black table surface, with fingers kept open."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green 2x2 lego block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 180, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions, contact points and wrist orientation to close around the small 2x2 light green lego brick on the dark surface, shifting the brick slightly to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the small 2x2 light green lego brick steadily on the dark surface with no visible movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: release: Right hand opens its fingers to release the light green lego brick on the dark flat surface."}, {"label": "subtasks", "start_step": 315, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand moves empty through the air toward the small blue lego brick, approaching the brick without forming a grip."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand closes its fingers around the small blue lego brick, making small finger adjustments to establish contact with the brick."}, {"label": "subtasks", "start_step": 435, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand makes slight finger adjustments to establish a stable grip on the blue lego brick resting on the dark table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: lift_transport: Right hand lifts the blue lego brick slightly off the dark surface and moves it to position directly above the stacked green lego bricks."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: place: Right hand lowers the blue lego brick onto the top surface of the green lego stack until the blue brick is fully supported by the green bricks."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the blue lego brick steadily on top of the green lego stack without any observable movement of the hand or the brick."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions and wrist orientation to establish a grasp on the stacked light green and blue lego bricks, slightly rotating the bricks to align them on the dark flat supporting surface."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: release_retreat: Right hand opens fingers to release contact with the stacked light green and blue lego bricks, moving slightly away from the bricks to exit the immediate contact area."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand gradually closes fingers to grasp the 2x2 orange lego brick placed on the black surface."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: lift: Right hand moves upward to lift the grasped 2x2 orange lego brick, fully separating it from the black supporting surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: transport_place: Right hand carries the grasped 2x2 orange lego brick to the position above the stacked blue and green lego bricks, moving downward to set the orange brick onto the top surface of the stacked bricks."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a grip on the orange lego brick resting on the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the orange lego brick steadily, the brick stays on the supporting stacked lego bricks with no visible movement of the hand or brick."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand extends the index finger and moves toward the top surface of the stacked orange lego brick, with no contact established with the brick during the movement."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: press: Right hand places the index finger on the top surface of the orange lego brick and presses downward vertically to apply pressure to the brick."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: other:adjust_hand_posture: Left hand stays in the upper left area, rotates the wrist slightly and closes the fingers to adjust to the resting posture while remaining empty. | Right hand: return_home: Right hand moves upward away from the stacked lego blocks with empty hand, returning to its initial upper resting position."}, {"label": "home", "start_step": 996, "end_step": 1031, "id": "vnJhjwocRz-au8SZ6NUWi"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:extend_fingers: Left hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand. | Right hand: other:extend_fingers: Right hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand."}, {"label": "subtasks", "start_step": 45, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: other:extend_fingers: Right hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand moves downward toward the lego blocks placed on the black table surface, with fingers kept open."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green 2x2 lego block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 180, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions, contact points and wrist orientation to close around the small 2x2 light green lego brick on the dark surface, shifting the brick slightly to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the small 2x2 light green lego brick steadily on the dark surface with no visible movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: release: Right hand opens its fingers to release the light green lego brick on the dark flat surface."}, {"label": "subtasks", "start_step": 315, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand moves empty through the air toward the small blue lego brick, approaching the brick without forming a grip."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand closes its fingers around the small blue lego brick, making small finger adjustments to establish contact with the brick."}, {"label": "subtasks", "start_step": 435, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand makes slight finger adjustments to establish a stable grip on the blue lego brick resting on the dark table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: lift_transport: Right hand lifts the blue lego brick slightly off the dark surface and moves it to position directly above the stacked green lego bricks."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: place: Right hand lowers the blue lego brick onto the top surface of the green lego stack until the blue brick is fully supported by the green bricks."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the blue lego brick steadily on top of the green lego stack without any observable movement of the hand or the brick."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions and wrist orientation to establish a grasp on the stacked light green and blue lego bricks, slightly rotating the bricks to align them on the dark flat supporting surface."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: release_retreat: Right hand opens fingers to release contact with the stacked light green and blue lego bricks, moving slightly away from the bricks to exit the immediate contact area."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand gradually closes fingers to grasp the 2x2 orange lego brick placed on the black surface."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: lift: Right hand moves upward to lift the grasped 2x2 orange lego brick, fully separating it from the black supporting surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: transport_place: Right hand carries the grasped 2x2 orange lego brick to the position above the stacked blue and green lego bricks, moving downward to set the orange brick onto the top surface of the stacked bricks."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a grip on the orange lego brick resting on the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the orange lego brick steadily, the brick stays on the supporting stacked lego bricks with no visible movement of the hand or brick."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand extends the index finger and moves toward the top surface of the stacked orange lego brick, with no contact established with the brick during the movement."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: press: Right hand places the index finger on the top surface of the orange lego brick and presses downward vertically to apply pressure to the brick."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: other:adjust_hand_posture: Left hand stays in the upper left area, rotates the wrist slightly and closes the fingers to adjust to the resting posture while remaining empty. | Right hand: return_home: Right hand moves upward away from the stacked lego blocks with empty hand, returning to its initial upper resting position."}], "episode_index": 9}
+{"source_uid": "20772beaf5be7a70", "num_frames": 1656, "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": 44, "id": "reasoning-language-00001", "text": "Left hand: other:move_slightly_upward: Left hand moves slightly upward while remaining empty. | Right hand: reach: Right hand moves downward toward the orange block on the black table, remaining empty during movement."}, {"label": "valid", "start_step": 0, "end_step": 1611, "id": "Dkhy55zAl3gZkfrq--p7K"}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the orange block on the black table, remaining empty during movement."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the small green building block on the black mat to establish a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the small green building block off the black mat and moves it rightward above the longer green building block."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the small green building block onto the top surface of the longer green building block on the black mat."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the stacked green building blocks on the black tabletop."}, {"label": "subtasks", "start_step": 322, "end_step": 531, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: other:adjust_stacked_blocks_position_alignment: Right hand moves and rotates the stacked green building blocks on the black tabletop to adjust their position and alignment."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand releases the stacked green building blocks, with fingers separating from the blocks."}, {"label": "subtasks", "start_step": 555, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the stacked green building blocks on the black table."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to establish stable grasp on the stacked green building blocks."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the stacked green building blocks and moves them towards the orange building block."}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the stacked green building blocks onto the target position on the table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the stacked green building blocks."}, {"label": "subtasks", "start_step": 990, "end_step": 1071, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue building block on the gray table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: transport: Right hand moves the grasped blue building block leftward toward the green building blocks."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the blue building block with the top of the green building blocks."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: press: Right hand presses the blue building block down onto the green building blocks to secure the connection."}, {"label": "subtasks", "start_step": 1215, "end_step": 1319, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the orange building block on the table."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the orange building block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the orange building block off the table and moves it leftward toward the stacked blue and green building blocks."}, {"label": "subtasks", "start_step": 1418, "end_step": 1521, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the orange building block onto the top of the blue building block, adjusting its position to align properly."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand releases the orange building block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "home", "start_step": 1612, "end_step": 1655, "id": "ao4qqQbzjlryjbJkBOj08"}, {"label": "subtasks", "start_step": 1620, "end_step": 1655, "id": "reasoning-language-00027", "text": "Left hand: return_home: Left hand moves back to its initial home position on the left side and stops. | Right hand: return_home: Right hand moves back to its initial home position on the right side and stops."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:move_slightly_upward: Left hand moves slightly upward while remaining empty. | Right hand: reach: Right hand moves downward toward the orange block on the black table, remaining empty during movement."}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the orange block on the black table, remaining empty during movement."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the small green building block on the black mat to establish a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the small green building block off the black mat and moves it rightward above the longer green building block."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the small green building block onto the top surface of the longer green building block on the black mat."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the stacked green building blocks on the black tabletop."}, {"label": "subtasks", "start_step": 322, "end_step": 531, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: other:adjust_stacked_blocks_position_alignment: Right hand moves and rotates the stacked green building blocks on the black tabletop to adjust their position and alignment."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand releases the stacked green building blocks, with fingers separating from the blocks."}, {"label": "subtasks", "start_step": 555, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the stacked green building blocks on the black table."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to establish stable grasp on the stacked green building blocks."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the stacked green building blocks and moves them towards the orange building block."}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the stacked green building blocks onto the target position on the table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the stacked green building blocks."}, {"label": "subtasks", "start_step": 990, "end_step": 1071, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue building block on the gray table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: transport: Right hand moves the grasped blue building block leftward toward the green building blocks."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the blue building block with the top of the green building blocks."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: press: Right hand presses the blue building block down onto the green building blocks to secure the connection."}, {"label": "subtasks", "start_step": 1215, "end_step": 1319, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the orange building block on the table."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the orange building block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the orange building block off the table and moves it leftward toward the stacked blue and green building blocks."}, {"label": "subtasks", "start_step": 1418, "end_step": 1521, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the orange building block onto the top of the blue building block, adjusting its position to align properly."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand releases the orange building block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 1620, "end_step": 1655, "id": "reasoning-language-00027", "text": "Left hand: return_home: Left hand moves back to its initial home position on the left side and stops. | Right hand: return_home: Right hand moves back to its initial home position on the right side and stops."}], "episode_index": 10}
+{"source_uid": "c1cdb3e019a339ae", "num_frames": 958, "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": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_raised_posture: Left hand moves slightly to the raised position at the left side of the dark table, with fingers extending and spreading open. | Right hand: other:adjust_raised_posture: Right hand moves slightly to the raised position at the right side of the dark table, with wrist rotating slightly and fingers extending open."}, {"label": "valid", "start_step": 0, "end_step": 909, "id": "kFEJEA7Pecnf7ubRLizwf"}, {"label": "subtasks", "start_step": 30, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: idle: Right hand remains empty and stationary at the raised position on the right side of the dark table, with fingers slightly spread."}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand moves downward toward the green lego block placed on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand contacts the green lego block on the dark table, fingers closing and making small adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger and wrist positions to form a stable grasp around the small light green block resting on the black work surface."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift_transport: Right hand lifts the small light green block off the black surface and moves it to a position directly above the larger long green block."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: place: Right hand lowers the small light green block until it rests steadily on the upper surface of the larger long green block."}, {"label": "subtasks", "start_step": 232, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press: Right hand applies downward pressure on the small light green block with small finger adjustments to secure it to the larger long green block."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: release: Right hand releases contact with the green lego block, fingers opening and moving away from the green block surface."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift_transport: Right hand lifts the held blue lego block upward off the dark surface behind the green block, moving the block through air to the position above the target placement spot."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: place: Right hand lowers the blue lego block vertically down to the dark surface at the upper right of the green block, until the block rests stably on the surface and is fully supported."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand makes small, continuous adjustments to finger positions on the blue lego block, repositioning contact points to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger positions to grasp the blue Lego block, moving the block horizontally to position it above the adjacent green Lego block on the dark gray work surface."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press_release: Right hand presses the blue Lego block downward against the green Lego block with minor wrist and finger alignment adjustments, opens fingers to release the block and lifts slightly upward away from the block."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: release: Right hand opens its fingers to release the stacked blue and green building blocks resting on the dark gray surface."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand moves empty across the dark gray surface toward the small orange building block, approaching the target block."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand closes its fingers around the small orange building block, making small contact adjustments to establish a grasp on the block."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the orange building block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift: Right hand lifts the grasped orange building block upward until it is fully separated from the dark supporting surface."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: transport_place: Right hand moves the grasped orange building block to position above the green building block and lowers it to rest on the green building block."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: mate: Right hand adjusts the position of the orange building block to align its connecting points with the studs on the green building block."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: hold: Right hand holds the aligned orange building block on top of the green building block without observable movement."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand extends its index finger and moves it downward toward the top surface of the orange block, with no contact established."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press: Right hand presses its extended index finger against the top surface of the orange block, applying downward vertical pressure."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: return_home: Right hand lifts its index finger away from the orange block, moves backward to the right-side home position, adjusts its fingers to the upright thumb-up pose and stops."}, {"label": "home", "start_step": 910, "end_step": 957, "id": "29A2Us_joDFrXJAOuemgo"}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: other:adjust_hand_to_thumb_up_pose: Left hand rotates its wrist approximately 90 degrees upward and adjusts finger positions to form the upright thumb-up pose, with no obvious overall position shift. | Right hand: return_home: Right hand lifts its index finger away from the orange block, moves backward to the right-side home position, adjusts its fingers to the upright thumb-up pose and stops."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_raised_posture: Left hand moves slightly to the raised position at the left side of the dark table, with fingers extending and spreading open. | Right hand: other:adjust_raised_posture: Right hand moves slightly to the raised position at the right side of the dark table, with wrist rotating slightly and fingers extending open."}, {"label": "subtasks", "start_step": 30, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: idle: Right hand remains empty and stationary at the raised position on the right side of the dark table, with fingers slightly spread."}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand moves downward toward the green lego block placed on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand contacts the green lego block on the dark table, fingers closing and making small adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger and wrist positions to form a stable grasp around the small light green block resting on the black work surface."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift_transport: Right hand lifts the small light green block off the black surface and moves it to a position directly above the larger long green block."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: place: Right hand lowers the small light green block until it rests steadily on the upper surface of the larger long green block."}, {"label": "subtasks", "start_step": 232, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press: Right hand applies downward pressure on the small light green block with small finger adjustments to secure it to the larger long green block."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: release: Right hand releases contact with the green lego block, fingers opening and moving away from the green block surface."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift_transport: Right hand lifts the held blue lego block upward off the dark surface behind the green block, moving the block through air to the position above the target placement spot."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: place: Right hand lowers the blue lego block vertically down to the dark surface at the upper right of the green block, until the block rests stably on the surface and is fully supported."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand makes small, continuous adjustments to finger positions on the blue lego block, repositioning contact points to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger positions to grasp the blue Lego block, moving the block horizontally to position it above the adjacent green Lego block on the dark gray work surface."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press_release: Right hand presses the blue Lego block downward against the green Lego block with minor wrist and finger alignment adjustments, opens fingers to release the block and lifts slightly upward away from the block."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: release: Right hand opens its fingers to release the stacked blue and green building blocks resting on the dark gray surface."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand moves empty across the dark gray surface toward the small orange building block, approaching the target block."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand closes its fingers around the small orange building block, making small contact adjustments to establish a grasp on the block."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the orange building block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift: Right hand lifts the grasped orange building block upward until it is fully separated from the dark supporting surface."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: transport_place: Right hand moves the grasped orange building block to position above the green building block and lowers it to rest on the green building block."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: mate: Right hand adjusts the position of the orange building block to align its connecting points with the studs on the green building block."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: hold: Right hand holds the aligned orange building block on top of the green building block without observable movement."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand extends its index finger and moves it downward toward the top surface of the orange block, with no contact established."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press: Right hand presses its extended index finger against the top surface of the orange block, applying downward vertical pressure."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: return_home: Right hand lifts its index finger away from the orange block, moves backward to the right-side home position, adjusts its fingers to the upright thumb-up pose and stops."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: other:adjust_hand_to_thumb_up_pose: Left hand rotates its wrist approximately 90 degrees upward and adjusts finger positions to form the upright thumb-up pose, with no obvious overall position shift. | Right hand: return_home: Right hand lifts its index finger away from the orange block, moves backward to the right-side home position, adjusts its fingers to the upright thumb-up pose and stops."}], "episode_index": 11}
+{"source_uid": "34c8440eabba4902", "num_frames": 1230, "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:extend_index_middle_fingers_upward: Left hand moves slightly upward while extending and spreading its index and middle fingers. | Right hand: other:extend_index_middle_fingers_upward: Right hand moves slightly upward while extending and spreading its index and middle fingers."}, {"label": "valid", "start_step": 0, "end_step": 1189, "id": "D4HEuZzyXDV_k_7sDLYVJ"}, {"label": "subtasks", "start_step": 38, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: other:extend_index_middle_fingers_upward: Right hand moves slightly upward while extending and spreading its index and middle fingers."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves downward and leftward toward the small green block on the table, with fingers held open."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green block, closing fingers to form a grasp on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table surface, moving the block slightly upward and leftward while holding it."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: place_release: Right hand lowers the small green block back onto the table surface, opening fingers to release the block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves leftward back toward the small green block on the table while empty."}, {"label": "subtasks", "start_step": 202, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts fingers around the small green block again, attempting to establish a stable grasp."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release_retreat: Right hand opens fingers to release the small green block, moving upward and rightward away from the block while empty."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves leftward toward the small green block again while empty, until fingers contact the block."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green block, closing fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes fingers around the small green 1x1 lego block on the dark flat surface, making slight finger adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand moves the grasped small green lego block to align it with the larger green lego block below, adjusting position to fit the small block onto the upper surface of the larger block."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand opens its fingers to release the small green lego block resting on the larger lego block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves away from the stacked green blocks toward the blue 2x2 lego block, with fingers held slightly open during the movement."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand positions fingers around the blue 2x2 lego block, closes and adjusts fingers to establish a stable grasp while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes its fingers to establish a firm grip on the blue 2x2 lego block resting on the dark flat work surface."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift_transport: Right hand lifts the blue 2x2 lego block completely off the dark surface and moves it to a position directly above the adjacent green lego block."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reorient: Right hand rotates the gripped blue lego block slightly to adjust its orientation while positioned above the green lego block."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand lowers the blue lego block to align and press it into contact with the top surface of the green lego block."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: hold: Right hand holds the mated blue lego block on top of the green lego block without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand opens its fingers to release the grip on the blue lego block, separating the hand from the block."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves empty away from the stacked blue and green block toward the small orange 1x1 block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes fingers around the small orange 1x1 block, making small adjustments to establish a stable grip while the block remains on the dark flat surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift: Right hand lifts the grasped small orange 1x1 block upward until it is fully raised off the dark flat surface."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: transport: Right hand moves the held small orange 1x1 block leftward across the space to position it above the stacked blue and green block."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand aligns the held small orange 1x1 block directly above the stacked blue and green block to position it for attachment."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand adjusts the small orange lego block with fine finger movements, making slight positional and rotational adjustments to align its connecting studs with the green lego block underneath."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: hold: Right hand holds the aligned small orange lego block steady on the green lego block without any movement of the hand or block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand lifts its fingers upward off the small orange lego block, releasing contact with the block."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: return_home: Left hand moves empty backward from its extended left forward position to return to the front home position, with fingers gradually closing into a relaxed posture. | Right hand: release: Right hand opens its fingers to release the orange lego block resting on the stacked green lego block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00035", "text": "Left hand: return_home: Left hand moves empty backward from its extended left forward position to return to the front home position, with fingers gradually closing into a relaxed posture. | Right hand: return_home: Right hand moves empty upward and backward to return to the front home position, with fingers gradually closing into a relaxed posture."}, {"label": "home", "start_step": 1190, "end_step": 1229, "id": "_JKcQT40YyvnhXpU35E5S"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:extend_index_middle_fingers_upward: Left hand moves slightly upward while extending and spreading its index and middle fingers. | Right hand: other:extend_index_middle_fingers_upward: Right hand moves slightly upward while extending and spreading its index and middle fingers."}, {"label": "subtasks", "start_step": 38, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: other:extend_index_middle_fingers_upward: Right hand moves slightly upward while extending and spreading its index and middle fingers."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves downward and leftward toward the small green block on the table, with fingers held open."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green block, closing fingers to form a grasp on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table surface, moving the block slightly upward and leftward while holding it."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: place_release: Right hand lowers the small green block back onto the table surface, opening fingers to release the block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves leftward back toward the small green block on the table while empty."}, {"label": "subtasks", "start_step": 202, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts fingers around the small green block again, attempting to establish a stable grasp."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release_retreat: Right hand opens fingers to release the small green block, moving upward and rightward away from the block while empty."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves leftward toward the small green block again while empty, until fingers contact the block."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green block, closing fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes fingers around the small green 1x1 lego block on the dark flat surface, making slight finger adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand moves the grasped small green lego block to align it with the larger green lego block below, adjusting position to fit the small block onto the upper surface of the larger block."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand opens its fingers to release the small green lego block resting on the larger lego block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves away from the stacked green blocks toward the blue 2x2 lego block, with fingers held slightly open during the movement."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand positions fingers around the blue 2x2 lego block, closes and adjusts fingers to establish a stable grasp while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes its fingers to establish a firm grip on the blue 2x2 lego block resting on the dark flat work surface."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift_transport: Right hand lifts the blue 2x2 lego block completely off the dark surface and moves it to a position directly above the adjacent green lego block."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reorient: Right hand rotates the gripped blue lego block slightly to adjust its orientation while positioned above the green lego block."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand lowers the blue lego block to align and press it into contact with the top surface of the green lego block."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: hold: Right hand holds the mated blue lego block on top of the green lego block without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand opens its fingers to release the grip on the blue lego block, separating the hand from the block."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves empty away from the stacked blue and green block toward the small orange 1x1 block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes fingers around the small orange 1x1 block, making small adjustments to establish a stable grip while the block remains on the dark flat surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift: Right hand lifts the grasped small orange 1x1 block upward until it is fully raised off the dark flat surface."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: transport: Right hand moves the held small orange 1x1 block leftward across the space to position it above the stacked blue and green block."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand aligns the held small orange 1x1 block directly above the stacked blue and green block to position it for attachment."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand adjusts the small orange lego block with fine finger movements, making slight positional and rotational adjustments to align its connecting studs with the green lego block underneath."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: hold: Right hand holds the aligned small orange lego block steady on the green lego block without any movement of the hand or block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand lifts its fingers upward off the small orange lego block, releasing contact with the block."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: return_home: Left hand moves empty backward from its extended left forward position to return to the front home position, with fingers gradually closing into a relaxed posture. | Right hand: release: Right hand opens its fingers to release the orange lego block resting on the stacked green lego block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00035", "text": "Left hand: return_home: Left hand moves empty backward from its extended left forward position to return to the front home position, with fingers gradually closing into a relaxed posture. | Right hand: return_home: Right hand moves empty upward and backward to return to the front home position, with fingers gradually closing into a relaxed posture."}], "episode_index": 12}
+{"source_uid": "d00f76f2b3b51ae4", "num_frames": 1796, "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": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts finger posture and wrist orientation at the left upper area of the black table. | Right hand: reach: Right hand moves toward the small green block on the black table until fingers touch the block."}, {"label": "valid", "start_step": 0, "end_step": 1753, "id": "ZLQd4Mruv_NFw4xJrR-Ei"}, {"label": "subtasks", "start_step": 22, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the small green block on the black table until fingers touch the block."}, {"label": "subtasks", "start_step": 120, "end_step": 291, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reorient: Right hand rotates the small green block slightly on the black surface to adjust its orientation."}, {"label": "subtasks", "start_step": 292, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the small green block and moves upward away from the block."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves towards the small green block placed on the black surface."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the small green block."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the small green block off the black surface and moves it right towards the larger green block."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small green block."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the small green block off the supporting surface and transports it above the larger light green block."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand lowers the small green block onto the top surface of the larger light green block."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the small green block down to secure it attached to the larger light green block."}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts its grip on the green block placed on the dark table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: hold: Right hand holds the green block on the table without moving."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the blue block on the table."}, {"label": "subtasks", "start_step": 840, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand closes its fingers to grasp the blue block on the dark surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift: Right hand lifts the blue block upward away from the dark surface."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: transport: Right hand transports the blue block horizontally to the position above the small green block."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand lowers the blue block onto the top surface of the small green block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1101, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the blue block downward to attach it firmly to the green block."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release_retreat: Right hand releases the blue block and retreats slightly away from the assembled blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the orange block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts fingers to close and form a stable grip on the orange block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the orange block off the table and moves it toward the green block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: transport: Right hand transports the orange block towards the top of the blue block."}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand places the orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1627, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand repeatedly presses the orange block down against the blue block."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the orange block and separates from the block."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: retreat: Right hand retreats away from the stacked blocks."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the blue building block on top of the stacked blocks on the table."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: retreat: Right hand moves backward away from the stacked building blocks toward its initial position."}, {"label": "subtasks", "start_step": 1740, "end_step": 1795, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table."}, {"label": "home", "start_step": 1754, "end_step": 1795, "id": "7djpYa4CjWnWd_IyKtGOl"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts finger posture and wrist orientation at the left upper area of the black table. | Right hand: reach: Right hand moves toward the small green block on the black table until fingers touch the block."}, {"label": "subtasks", "start_step": 22, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the small green block on the black table until fingers touch the block."}, {"label": "subtasks", "start_step": 120, "end_step": 291, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reorient: Right hand rotates the small green block slightly on the black surface to adjust its orientation."}, {"label": "subtasks", "start_step": 292, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the small green block and moves upward away from the block."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves towards the small green block placed on the black surface."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the small green block."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the small green block off the black surface and moves it right towards the larger green block."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small green block."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the small green block off the supporting surface and transports it above the larger light green block."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand lowers the small green block onto the top surface of the larger light green block."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the small green block down to secure it attached to the larger light green block."}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts its grip on the green block placed on the dark table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: hold: Right hand holds the green block on the table without moving."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the blue block on the table."}, {"label": "subtasks", "start_step": 840, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand closes its fingers to grasp the blue block on the dark surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift: Right hand lifts the blue block upward away from the dark surface."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: transport: Right hand transports the blue block horizontally to the position above the small green block."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand lowers the blue block onto the top surface of the small green block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1101, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the blue block downward to attach it firmly to the green block."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release_retreat: Right hand releases the blue block and retreats slightly away from the assembled blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the orange block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts fingers to close and form a stable grip on the orange block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the orange block off the table and moves it toward the green block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: transport: Right hand transports the orange block towards the top of the blue block."}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand places the orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1627, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand repeatedly presses the orange block down against the blue block."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the orange block and separates from the block."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: retreat: Right hand retreats away from the stacked blocks."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the blue building block on top of the stacked blocks on the table."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: retreat: Right hand moves backward away from the stacked building blocks toward its initial position."}, {"label": "subtasks", "start_step": 1740, "end_step": 1795, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table."}], "episode_index": 13}
+{"source_uid": "a9813520a54fda12", "num_frames": 2206, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: idle: Right hand remains empty at the upper right initial position without obvious displacement."}, {"label": "valid", "start_step": 0, "end_step": 2160, "id": "gpVEyA8MduV2T9y9_rVEY"}, {"label": "subtasks", "start_step": 60, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: reach: Right hand moves downward toward the small green 2x2 block on the table, with fingers slightly extended, approaching the block without stable contact."}, {"label": "subtasks", "start_step": 128, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the small green 2x2 block to form a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: lift: Right hand holds the grasped small green 2x2 block and moves upward, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "id": "reasoning-language-00005", "text": "Left hand: reach: Left hand moves downward and rightward with slightly open fingers to approach the small green block held by the right hand. | Right hand: lift_transport: Right hand lifts the small green block off the dark supporting surface and moves it leftward toward the approaching left hand."}, {"label": "subtasks", "start_step": 338, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: reach: Left hand moves downward and rightward with slightly open fingers to approach the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 382, "end_step": 479, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand contacts the small green block and adjusts its fingers to close around the block to establish a grasp. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand grips the small green block and moves it downward toward the long green block placed on the dark table surface. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 555, "end_step": 651, "id": "reasoning-language-00009", "text": "Left hand: place_release: Left hand lowers the small green block onto the dark table surface next to the long green block, releases its grip as the block rests stably on the surface. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: retreat: Empty left hand moves upward, retreating from the position of the placed small green block. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves downward toward the small loose green block on the dark surface, with fingers slightly spread, without contacting the block."}, {"label": "subtasks", "start_step": 712, "end_step": 787, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small loose green block on the dark surface, adjusting finger contact positions to establish a stable grasp, while the block remains resting on the supporting surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand moves upward while holding the small green block, lifting the block completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand moves upward and slightly toward the center of the workspace while holding the lifted small green block, transporting the block through the air above the surface."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the held small green block, separating from the block which falls onto the dark supporting surface."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves downward toward the small green block resting on the lower right table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 930, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small green block on the lower right table, making small adjustments to finger positions to establish a firm grip while the block stays in contact with the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped small green block off the table surface and moves it leftward to a position directly above the long green block at the center of the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place: Right hand lowers the small green block until it rests on the top surface of the long green block, supported by the block below."}, {"label": "subtasks", "start_step": 1088, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand makes small positional adjustments to the small green block to align its connecting features with the long green block for assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1304, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press: Right hand presses vertically downward on the top surface of the small green block to secure it to the long green block below."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves empty toward the small blue lego block resting on the dark gray surface, approaching the target to prepare for grasping."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small blue lego block, making slight adjustments to finger contact points to form a stable grasp while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped small blue lego block upward, fully detaching it from the dark gray supporting surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reorient: Right hand rotates the wrist to flip the grasped blue lego block approximately 180 degrees, turning the studded face upward with minimal change to the block's horizontal position."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place: Right hand moves downward to place the flipped blue lego block back onto the dark gray surface, with the block fully supported by the surface at the end of the segment while the hand still holds it."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand makes slight adjustments to finger positions and pressure on the blue lego block to re-stabilize the grasp, with visible small movements of the fingers and wrist."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped blue lego block upward again, fully lifting it off the dark gray surface to prepare for relocation."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the grasped blue lego block through the air, moving downward toward the upright green lego block positioned below the blue block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand aligns the bottom of the blue lego block with the top studs of the green lego block, positioning the two blocks to engage in assembly."}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press_release: Right hand applies downward pressure on the blue lego block to press it firmly onto the green lego block to complete assembly, opens fingers to release the block and separate from it."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves toward the small orange lego block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small orange lego block, making small adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped small orange lego block completely off the dark work surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted orange lego block a short distance toward the stacked two-block lego tower."}, {"label": "subtasks", "start_step": 1852, "end_step": 1867, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place_release: Right hand lowers the orange lego block onto the dark work surface, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand adjusts its position and moves fingers toward the resting orange lego block to re-establish a grip."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the orange lego block, making small adjustments to secure a stable grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the re-grasped orange lego block fully off the dark work surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted orange lego block directly over the top surface of the blue lego block on the stack."}, {"label": "subtasks", "start_step": 1980, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand aligns the orange lego block with the connecting studs on the top of the blue lego block, positioning it to fit onto the stack."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press: Right hand applies downward vertical pressure on the top surface of the orange lego block to secure it to the lego stack below."}, {"label": "subtasks", "start_step": 2130, "end_step": 2204, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects."}, {"label": "home", "start_step": 2161, "end_step": 2205, "id": "nxoem9M_wwEWHlmbuMuWr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: idle: Right hand remains empty at the upper right initial position without obvious displacement."}, {"label": "subtasks", "start_step": 60, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: reach: Right hand moves downward toward the small green 2x2 block on the table, with fingers slightly extended, approaching the block without stable contact."}, {"label": "subtasks", "start_step": 128, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the small green 2x2 block to form a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: lift: Right hand holds the grasped small green 2x2 block and moves upward, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "id": "reasoning-language-00005", "text": "Left hand: reach: Left hand moves downward and rightward with slightly open fingers to approach the small green block held by the right hand. | Right hand: lift_transport: Right hand lifts the small green block off the dark supporting surface and moves it leftward toward the approaching left hand."}, {"label": "subtasks", "start_step": 338, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: reach: Left hand moves downward and rightward with slightly open fingers to approach the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 382, "end_step": 479, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand contacts the small green block and adjusts its fingers to close around the block to establish a grasp. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand grips the small green block and moves it downward toward the long green block placed on the dark table surface. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 555, "end_step": 651, "id": "reasoning-language-00009", "text": "Left hand: place_release: Left hand lowers the small green block onto the dark table surface next to the long green block, releases its grip as the block rests stably on the surface. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: retreat: Empty left hand moves upward, retreating from the position of the placed small green block. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves downward toward the small loose green block on the dark surface, with fingers slightly spread, without contacting the block."}, {"label": "subtasks", "start_step": 712, "end_step": 787, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small loose green block on the dark surface, adjusting finger contact positions to establish a stable grasp, while the block remains resting on the supporting surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand moves upward while holding the small green block, lifting the block completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand moves upward and slightly toward the center of the workspace while holding the lifted small green block, transporting the block through the air above the surface."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the held small green block, separating from the block which falls onto the dark supporting surface."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves downward toward the small green block resting on the lower right table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 930, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small green block on the lower right table, making small adjustments to finger positions to establish a firm grip while the block stays in contact with the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped small green block off the table surface and moves it leftward to a position directly above the long green block at the center of the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place: Right hand lowers the small green block until it rests on the top surface of the long green block, supported by the block below."}, {"label": "subtasks", "start_step": 1088, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand makes small positional adjustments to the small green block to align its connecting features with the long green block for assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1304, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press: Right hand presses vertically downward on the top surface of the small green block to secure it to the long green block below."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves empty toward the small blue lego block resting on the dark gray surface, approaching the target to prepare for grasping."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small blue lego block, making slight adjustments to finger contact points to form a stable grasp while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped small blue lego block upward, fully detaching it from the dark gray supporting surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reorient: Right hand rotates the wrist to flip the grasped blue lego block approximately 180 degrees, turning the studded face upward with minimal change to the block's horizontal position."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place: Right hand moves downward to place the flipped blue lego block back onto the dark gray surface, with the block fully supported by the surface at the end of the segment while the hand still holds it."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand makes slight adjustments to finger positions and pressure on the blue lego block to re-stabilize the grasp, with visible small movements of the fingers and wrist."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped blue lego block upward again, fully lifting it off the dark gray surface to prepare for relocation."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the grasped blue lego block through the air, moving downward toward the upright green lego block positioned below the blue block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand aligns the bottom of the blue lego block with the top studs of the green lego block, positioning the two blocks to engage in assembly."}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press_release: Right hand applies downward pressure on the blue lego block to press it firmly onto the green lego block to complete assembly, opens fingers to release the block and separate from it."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves toward the small orange lego block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small orange lego block, making small adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped small orange lego block completely off the dark work surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted orange lego block a short distance toward the stacked two-block lego tower."}, {"label": "subtasks", "start_step": 1852, "end_step": 1867, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place_release: Right hand lowers the orange lego block onto the dark work surface, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand adjusts its position and moves fingers toward the resting orange lego block to re-establish a grip."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the orange lego block, making small adjustments to secure a stable grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the re-grasped orange lego block fully off the dark work surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted orange lego block directly over the top surface of the blue lego block on the stack."}, {"label": "subtasks", "start_step": 1980, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand aligns the orange lego block with the connecting studs on the top of the blue lego block, positioning it to fit onto the stack."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press: Right hand applies downward vertical pressure on the top surface of the orange lego block to secure it to the lego stack below."}, {"label": "subtasks", "start_step": 2130, "end_step": 2204, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects."}], "episode_index": 14}
+{"source_uid": "a5b1cd69b4381f77", "num_frames": 2547, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_fingers_to_extended_pose: Left hand moves slightly upward at the left side of the table while adjusting its fingers to a fully extended open pose, without holding any object. | Right hand: other:adjust_fingers_to_pre_reach_pose: Right hand moves slightly upward at the right side of the table while adjusting its fingers to a slightly flexed pre-reach pose, without holding any object."}, {"label": "valid", "start_step": 0, "end_step": 2510, "id": "pKr--XiUryjVOsmsZiVpe"}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: other:adjust_fingers_to_pre_reach_pose: Right hand moves slightly upward at the right side of the table while adjusting its fingers to a slightly flexed pre-reach pose, without holding any object."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green block placed on the central table surface, remaining empty and not yet in contact with the block."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the small 2x2 green block, adjusting finger contact positions to form a stable grasp while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped small 2x2 green block vertically upward, separating the block completely from the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the grasped small 2x2 green block downward to position it directly above the larger 2x4 green block on the table."}, {"label": "subtasks", "start_step": 248, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the small 2x2 green block with the connection studs on the larger 2x4 green block, adjusting position and applying downward pressure to fit the two blocks together."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand gradually opens its fingers to release the assembled small green block, with fingers remaining in partial contact with the block at the end of the interval."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: push: Right hand contacts the green block on the dark table surface, pushing the block away to make it slide across the table."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty toward the small blue block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 465, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the small blue block, adjusting finger positions to form a stable grip on the block resting on the table."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped blue block upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted blue block through the air to a position above the table next to the displaced green block."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the blue block down to the table surface until the block is fully supported by the table."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions on the placed blue block slightly to stabilize the grip for subsequent movement."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the grasped blue block across the table to position it adjacent to the green block."}, {"label": "subtasks", "start_step": 750, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the blue block with the green block, pressing the blocks together to fit them into an assembled state."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens fingers to release the assembled blue block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty away from the assembled blocks toward the right side of the workspace."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small orange lego block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the orange lego block to form a stable grip, while the block remains resting on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped orange lego block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted orange lego block leftward to position it directly above the stacked green and blue lego blocks."}, {"label": "subtasks", "start_step": 1050, "end_step": 1177, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand adjusts the orientation of the orange lego block, aligning its connecting studs with the top of the stacked blocks to attempt assembly."}, {"label": "subtasks", "start_step": 1178, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the orange lego block, which drops onto the table adjacent to the stacked blocks."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand repositions its fingers around the orange lego block on the table, making slight adjustments to establish a new stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the re-grasped orange lego block upward until it is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the orange lego block rightward across the table to the area above its original resting position."}, {"label": "subtasks", "start_step": 1402, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the orange lego block downward until the block rests steadily on the dark table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to fully release contact with the orange lego block supported by the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small orange block on the dark table surface, remaining empty with no contact to the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1897, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the orange block, adjusting finger positions repeatedly while slightly rotating and shifting the block on the table surface to form a stable grip."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand holds the orange block and lifts it upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted orange block, moving it horizontally left toward the stacked blue and green blocks."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the orange block to rest stably on the table surface, fingers opening to release contact with the settled block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2151, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach_grasp: Right hand moves slightly to re-contact the orange block on the table, adjusting finger positions while slightly shifting the block to re-establish a stable grip."}, {"label": "subtasks", "start_step": 2152, "end_step": 2234, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the orange block on the table surface without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts and closes fingers around the orange block resting on the dark table to form a stable grasp."}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange block completely off the table surface and moves it over the adjacent stacked green and blue block."}, {"label": "subtasks", "start_step": 2280, "end_step": 2324, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand lowers the orange block to align with the connection points on top of the green and blue block, pressing slightly to fit the two blocks together."}, {"label": "subtasks", "start_step": 2325, "end_step": 2467, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the fully assembled stack of blocks on the table surface without any observable movement of the hand or blocks."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release contact with the top orange block, separating the hand from the assembled block stack."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the stacked colorful blocks resting on the dark table, losing contact with the blocks."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves upward and rightward with empty hand, retreating away from the stacked blocks on the table."}, {"label": "home", "start_step": 2511, "end_step": 2546, "id": "kpt_z_Ae9_BI1HwHvjtXV"}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00045", "text": "Left hand: retreat: Left hand moves upward and backward with empty hand, retreating from the previous outstretched left position. | Right hand: retreat: Right hand moves upward and rightward with empty hand, retreating away from the stacked blocks on the table."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_fingers_to_extended_pose: Left hand moves slightly upward at the left side of the table while adjusting its fingers to a fully extended open pose, without holding any object. | Right hand: other:adjust_fingers_to_pre_reach_pose: Right hand moves slightly upward at the right side of the table while adjusting its fingers to a slightly flexed pre-reach pose, without holding any object."}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: other:adjust_fingers_to_pre_reach_pose: Right hand moves slightly upward at the right side of the table while adjusting its fingers to a slightly flexed pre-reach pose, without holding any object."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green block placed on the central table surface, remaining empty and not yet in contact with the block."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the small 2x2 green block, adjusting finger contact positions to form a stable grasp while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped small 2x2 green block vertically upward, separating the block completely from the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the grasped small 2x2 green block downward to position it directly above the larger 2x4 green block on the table."}, {"label": "subtasks", "start_step": 248, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the small 2x2 green block with the connection studs on the larger 2x4 green block, adjusting position and applying downward pressure to fit the two blocks together."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand gradually opens its fingers to release the assembled small green block, with fingers remaining in partial contact with the block at the end of the interval."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: push: Right hand contacts the green block on the dark table surface, pushing the block away to make it slide across the table."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty toward the small blue block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 465, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the small blue block, adjusting finger positions to form a stable grip on the block resting on the table."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped blue block upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted blue block through the air to a position above the table next to the displaced green block."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the blue block down to the table surface until the block is fully supported by the table."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions on the placed blue block slightly to stabilize the grip for subsequent movement."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the grasped blue block across the table to position it adjacent to the green block."}, {"label": "subtasks", "start_step": 750, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the blue block with the green block, pressing the blocks together to fit them into an assembled state."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens fingers to release the assembled blue block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty away from the assembled blocks toward the right side of the workspace."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small orange lego block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the orange lego block to form a stable grip, while the block remains resting on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped orange lego block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted orange lego block leftward to position it directly above the stacked green and blue lego blocks."}, {"label": "subtasks", "start_step": 1050, "end_step": 1177, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand adjusts the orientation of the orange lego block, aligning its connecting studs with the top of the stacked blocks to attempt assembly."}, {"label": "subtasks", "start_step": 1178, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the orange lego block, which drops onto the table adjacent to the stacked blocks."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand repositions its fingers around the orange lego block on the table, making slight adjustments to establish a new stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the re-grasped orange lego block upward until it is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the orange lego block rightward across the table to the area above its original resting position."}, {"label": "subtasks", "start_step": 1402, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the orange lego block downward until the block rests steadily on the dark table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to fully release contact with the orange lego block supported by the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small orange block on the dark table surface, remaining empty with no contact to the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1897, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the orange block, adjusting finger positions repeatedly while slightly rotating and shifting the block on the table surface to form a stable grip."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand holds the orange block and lifts it upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted orange block, moving it horizontally left toward the stacked blue and green blocks."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the orange block to rest stably on the table surface, fingers opening to release contact with the settled block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2151, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach_grasp: Right hand moves slightly to re-contact the orange block on the table, adjusting finger positions while slightly shifting the block to re-establish a stable grip."}, {"label": "subtasks", "start_step": 2152, "end_step": 2234, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the orange block on the table surface without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts and closes fingers around the orange block resting on the dark table to form a stable grasp."}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange block completely off the table surface and moves it over the adjacent stacked green and blue block."}, {"label": "subtasks", "start_step": 2280, "end_step": 2324, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand lowers the orange block to align with the connection points on top of the green and blue block, pressing slightly to fit the two blocks together."}, {"label": "subtasks", "start_step": 2325, "end_step": 2467, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the fully assembled stack of blocks on the table surface without any observable movement of the hand or blocks."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release contact with the top orange block, separating the hand from the assembled block stack."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the stacked colorful blocks resting on the dark table, losing contact with the blocks."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves upward and rightward with empty hand, retreating away from the stacked blocks on the table."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00045", "text": "Left hand: retreat: Left hand moves upward and backward with empty hand, retreating from the previous outstretched left position. | Right hand: retreat: Right hand moves upward and rightward with empty hand, retreating away from the stacked blocks on the table."}], "episode_index": 15}
+{"source_uid": "954aea526dcb9d38", "num_frames": 1352, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "S", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward from the right side of the table toward the small green block without contacting any object."}, {"label": "valid", "start_step": 0, "end_step": 1308, "id": "SD98I8KyOSwByvtLFOYuF"}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the small green block on the black tabletop to establish stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 329, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00004", "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 off the black table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00005", "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 rightward above the longer green block."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00006", "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 onto the longer green block."}, {"label": "subtasks", "start_step": 405, "end_step": 644, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the blue block on the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "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 grasps the blue block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the dark gray surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "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 from the dark gray surface and transports it above the small green block."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "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 onto the top of the small green block."}, {"label": "subtasks", "start_step": 810, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the small green block to secure the assembly."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the blue block and separates from it."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the orange block on the black table surface without touching the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the orange block and adjusts fingers to form a stable grip on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table surface and transports it to above the blue block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the top of the blue block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1259, "id": "reasoning-language-00019", "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 to attach it firmly to the blue block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the orange block and moves fingers away from the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1351, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "home", "start_step": 1309, "end_step": 1351, "id": "OyJmg3hX2RrlfvcsuIXmy"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward from the right side of the table toward the small green block without contacting any object."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the small green block on the black tabletop to establish stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 329, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00004", "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 off the black table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00005", "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 rightward above the longer green block."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00006", "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 onto the longer green block."}, {"label": "subtasks", "start_step": 405, "end_step": 644, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the blue block on the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "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 grasps the blue block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the dark gray surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "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 from the dark gray surface and transports it above the small green block."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "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 onto the top of the small green block."}, {"label": "subtasks", "start_step": 810, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the small green block to secure the assembly."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the blue block and separates from it."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the orange block on the black table surface without touching the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the orange block and adjusts fingers to form a stable grip on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table surface and transports it to above the blue block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the top of the blue block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1259, "id": "reasoning-language-00019", "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 to attach it firmly to the blue block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the orange block and moves fingers away from the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1351, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}], "episode_index": 16}
+{"source_uid": "d36620069b8d16f1", "num_frames": 1516, "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": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: idle: Right hand remains empty and stationary at the right upper side of the workspace, not yet moving toward the small green 2x2 lego brick."}, {"label": "valid", "start_step": 0, "end_step": 1475, "id": "3EI2xk0CWK76hyvs91VZd"}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves downward with slightly open fingers, approaching the small green 2x2 lego brick placed on the black table surface, without making contact with the brick."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand positions fingers around the small green 2x2 lego brick, adjusting finger placement to initiate contact and prepare for grasping the brick, which remains on the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand moves its fingers around the small green lego brick on the dark surface, closing and adjusting finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand moves upward to lift the securely grasped small green lego brick completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand carries the lifted small green lego brick horizontally toward the larger green lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: place: Right hand lowers the small green lego brick downward until it rests on the top surface of the larger green lego brick."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate: Right hand adjusts the position and orientation of the small green lego brick to align it with the larger green lego brick, applying light downward pressure to seat the bricks together."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: release: Right hand opens its fingers to release its grip on the aligned small green lego brick."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves from the position near the green lego base toward the adjacent small blue 2x2 lego block, with fingers slightly open and not yet in contact with the blue block."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand contacts the small blue 2x2 lego block, gradually closing fingers and adjusting contact positions to establish a stable grasp while the block remains on the dark supporting surface."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table."}, {"label": "subtasks", "start_step": 555, "end_step": 561, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes fingers around the small blue lego brick on the dark table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand raises the grasped small blue lego brick upward until the brick is fully separated from the table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand carries the grasped small blue lego brick horizontally to position it directly above the small green lego brick."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate_release: Right hand aligns the small blue lego brick with connection points on the green lego brick, presses down to attach the two bricks together, opening fingers to release the blue brick."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: idle: Right hand remains empty adjacent to the stacked lego bricks without any observable movement."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves empty from the area near the stacked blue and green bricks toward the small orange 2x2 brick on the dark flat surface, with fingers extended to approach the target."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes fingers around the small orange 2x2 brick, adjusting finger contact to form a stable grip while the brick remains resting on the dark surface."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: hold: Right hand holds the small orange 2x2 brick steadily on the dark flat surface, with no observable movement of the hand, fingers or the gripped brick."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand moves upward while gripping the small orange 2x2 brick, lifting the brick partially away from the dark supporting surface."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand holds the small orange lego brick and moves it leftward above the dark table surface toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: release: Right hand opens its fingers to release the small orange lego brick, which falls and rests on the dark table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves downward with open fingers, approaching the small orange lego brick resting on the table."}, {"label": "subtasks", "start_step": 908, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes its fingers around the small orange lego brick on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes its fingers around the small orange lego brick on the dark table surface to adjust and establish a stable re-grasp."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift_transport: Right hand lifts the grasped small orange lego brick off the dark table surface and moves it downward to position it over the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1118, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate: Right hand adjusts the position of the small orange lego brick to align it with the studs on the stacked green and blue lego bricks, pressing it slightly to fit the two pieces together."}, {"label": "subtasks", "start_step": 1260, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach_grasp: Right hand moves toward the orange lego brick, adjusts finger positions to establish stable contact with the lego stack and aligns the index finger over the top of the orange lego brick."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: press: Right hand presses vertically down on the top surface of the orange lego brick resting on the underlying lego stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: return_home: Left hand rotates its wrist to face the palm forward, extends fingers from a slightly curled posture to a straight upward-pointing posture, and moves slightly upward to return to its initial raised home position. | Right hand: return_home: Right hand rotates its wrist to face the palm forward, extends fingers from a curled grasping posture to a straight upward-pointing posture, and moves upward away from the stacked blocks on the table to return to its initial raised home position."}, {"label": "home", "start_step": 1476, "end_step": 1515, "id": "BItnKvJYn7scnP1K019Vl"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: idle: Right hand remains empty and stationary at the right upper side of the workspace, not yet moving toward the small green 2x2 lego brick."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves downward with slightly open fingers, approaching the small green 2x2 lego brick placed on the black table surface, without making contact with the brick."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand positions fingers around the small green 2x2 lego brick, adjusting finger placement to initiate contact and prepare for grasping the brick, which remains on the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand moves its fingers around the small green lego brick on the dark surface, closing and adjusting finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand moves upward to lift the securely grasped small green lego brick completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand carries the lifted small green lego brick horizontally toward the larger green lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: place: Right hand lowers the small green lego brick downward until it rests on the top surface of the larger green lego brick."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate: Right hand adjusts the position and orientation of the small green lego brick to align it with the larger green lego brick, applying light downward pressure to seat the bricks together."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: release: Right hand opens its fingers to release its grip on the aligned small green lego brick."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves from the position near the green lego base toward the adjacent small blue 2x2 lego block, with fingers slightly open and not yet in contact with the blue block."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand contacts the small blue 2x2 lego block, gradually closing fingers and adjusting contact positions to establish a stable grasp while the block remains on the dark supporting surface."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table."}, {"label": "subtasks", "start_step": 555, "end_step": 561, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes fingers around the small blue lego brick on the dark table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand raises the grasped small blue lego brick upward until the brick is fully separated from the table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand carries the grasped small blue lego brick horizontally to position it directly above the small green lego brick."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate_release: Right hand aligns the small blue lego brick with connection points on the green lego brick, presses down to attach the two bricks together, opening fingers to release the blue brick."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: idle: Right hand remains empty adjacent to the stacked lego bricks without any observable movement."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves empty from the area near the stacked blue and green bricks toward the small orange 2x2 brick on the dark flat surface, with fingers extended to approach the target."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes fingers around the small orange 2x2 brick, adjusting finger contact to form a stable grip while the brick remains resting on the dark surface."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: hold: Right hand holds the small orange 2x2 brick steadily on the dark flat surface, with no observable movement of the hand, fingers or the gripped brick."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand moves upward while gripping the small orange 2x2 brick, lifting the brick partially away from the dark supporting surface."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand holds the small orange lego brick and moves it leftward above the dark table surface toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: release: Right hand opens its fingers to release the small orange lego brick, which falls and rests on the dark table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves downward with open fingers, approaching the small orange lego brick resting on the table."}, {"label": "subtasks", "start_step": 908, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes its fingers around the small orange lego brick on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes its fingers around the small orange lego brick on the dark table surface to adjust and establish a stable re-grasp."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift_transport: Right hand lifts the grasped small orange lego brick off the dark table surface and moves it downward to position it over the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1118, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate: Right hand adjusts the position of the small orange lego brick to align it with the studs on the stacked green and blue lego bricks, pressing it slightly to fit the two pieces together."}, {"label": "subtasks", "start_step": 1260, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach_grasp: Right hand moves toward the orange lego brick, adjusts finger positions to establish stable contact with the lego stack and aligns the index finger over the top of the orange lego brick."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: press: Right hand presses vertically down on the top surface of the orange lego brick resting on the underlying lego stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: return_home: Left hand rotates its wrist to face the palm forward, extends fingers from a slightly curled posture to a straight upward-pointing posture, and moves slightly upward to return to its initial raised home position. | Right hand: return_home: Right hand rotates its wrist to face the palm forward, extends fingers from a curled grasping posture to a straight upward-pointing posture, and moves upward away from the stacked blocks on the table to return to its initial raised home position."}], "episode_index": 17}
+{"source_uid": "27520d107344fc32", "num_frames": 1562, "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": 74, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and rotates slightly to face the building blocks on the table, keeping fingers slightly open and empty. | Right hand: reach: Right hand moves upward and rotates slightly to face the building blocks on the table, keeping fingers slightly open and empty."}, {"label": "valid", "start_step": 0, "end_step": 1526, "id": "Pid7_M2SzVXMHeSMZf0-Y"}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves downward and leftward toward the small green square block on the black surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green square block, with fingers closing around the block."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the small green block on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reorient: Right hand rotates the small green block about a quarter turn on the table surface, with the block staying in contact with the table."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the small green block on the table surface without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand reaches toward the small green block on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green block on the black table surface with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00009", "text": "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 block off the table and moves it rightward and downward toward the larger green block."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00010", "text": "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 block onto the larger green block on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its grip on the green block on the dark surface, with slight finger position adjustments."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reorient: Right hand slightly rotates and adjusts the pose of the green block on the dark surface, with the block staying on the surface."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: press: Right hand presses down on the green block on the dark surface to apply vertical pressure."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases its grip slightly, lifting fingers away from the top of the green block."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "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 re-grasps the green block on the dark surface, with fingers closing back onto the block."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: press: Right hand presses down on the green block again to secure it on the dark surface."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves rightward toward the blue square block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue square block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the blue square block on the dark table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the blue square block off the table and transports it leftward to the position above the green block."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00021", "text": "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 square block onto the green block and adjusts its position to align with the green block for assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the blue square block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue building block placed on the green building block, with fingers adjusting contact points to form a stable grip."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate_press: Right hand aligns the blue building block with the green building block below and presses it down to secure the assembly."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the assembled blue and green building blocks still without moving."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release_retreat: Right hand releases the blue building block and retreats backward away from the assembled blocks."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach_grasp: Right hand moves toward the orange square block on the table and closes its fingers to grasp the block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the orange square block resting on the table without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange square block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the orange square block off the table and transports it leftward to the position above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place_mate: Right hand places the orange square block onto the stacked green and blue blocks and adjusts it to mate with the lower block's studs."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the orange square block on top of the stacked green and blue blocks without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand holds the orange block and adjusts its position to align it with the blue block below for assembly."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00034", "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 block downward to secure it on top of the blue block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens its fingers and releases the orange block, moving slightly upward away from the block."}, {"label": "subtasks", "start_step": 1500, "end_step": 1561, "id": "reasoning-language-00036", "text": "Left hand: return_home: Left hand moves downward from the upper left area to the home position on the left side and stops. | Right hand: return_home: Right hand moves downward away from the block stack to the home position on the right side and stops."}, {"label": "home", "start_step": 1527, "end_step": 1561, "id": "2_o0dUxzHbfIMIszzOcnJ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and rotates slightly to face the building blocks on the table, keeping fingers slightly open and empty. | Right hand: reach: Right hand moves upward and rotates slightly to face the building blocks on the table, keeping fingers slightly open and empty."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves downward and leftward toward the small green square block on the black surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green square block, with fingers closing around the block."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the small green block on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reorient: Right hand rotates the small green block about a quarter turn on the table surface, with the block staying in contact with the table."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the small green block on the table surface without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand reaches toward the small green block on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green block on the black table surface with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00009", "text": "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 block off the table and moves it rightward and downward toward the larger green block."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00010", "text": "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 block onto the larger green block on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its grip on the green block on the dark surface, with slight finger position adjustments."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reorient: Right hand slightly rotates and adjusts the pose of the green block on the dark surface, with the block staying on the surface."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: press: Right hand presses down on the green block on the dark surface to apply vertical pressure."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases its grip slightly, lifting fingers away from the top of the green block."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "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 re-grasps the green block on the dark surface, with fingers closing back onto the block."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: press: Right hand presses down on the green block again to secure it on the dark surface."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves rightward toward the blue square block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue square block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the blue square block on the dark table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the blue square block off the table and transports it leftward to the position above the green block."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00021", "text": "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 square block onto the green block and adjusts its position to align with the green block for assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the blue square block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue building block placed on the green building block, with fingers adjusting contact points to form a stable grip."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate_press: Right hand aligns the blue building block with the green building block below and presses it down to secure the assembly."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the assembled blue and green building blocks still without moving."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release_retreat: Right hand releases the blue building block and retreats backward away from the assembled blocks."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach_grasp: Right hand moves toward the orange square block on the table and closes its fingers to grasp the block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the orange square block resting on the table without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange square block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the orange square block off the table and transports it leftward to the position above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place_mate: Right hand places the orange square block onto the stacked green and blue blocks and adjusts it to mate with the lower block's studs."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the orange square block on top of the stacked green and blue blocks without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand holds the orange block and adjusts its position to align it with the blue block below for assembly."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00034", "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 block downward to secure it on top of the blue block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens its fingers and releases the orange block, moving slightly upward away from the block."}, {"label": "subtasks", "start_step": 1500, "end_step": 1561, "id": "reasoning-language-00036", "text": "Left hand: return_home: Left hand moves downward from the upper left area to the home position on the left side and stops. | Right hand: return_home: Right hand moves downward away from the block stack to the home position on the right side and stops."}], "episode_index": 18}
+{"source_uid": "7d262ad480341519", "num_frames": 1174, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:move_upwards: Left hand moves upwards empty-handed, no contact with any operating objects. | Right hand: reach: Right hand moves downwards towards the small green block on the black table, empty-handed, without touching the block."}, {"label": "valid", "start_step": 0, "end_step": 1132, "id": "OOviT3vsSyindy2nFhDLf"}, {"label": "subtasks", "start_step": 52, "end_step": 104, "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 towards the small green block on the black table, empty-handed, without touching the block."}, {"label": "subtasks", "start_step": 105, "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 closes fingers to contact and grasp the small green block on the black table."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the small green block on the black surface."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the small green block off the black surface and moves it towards the larger green block."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00006", "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 larger green block placed on the black surface."}, {"label": "subtasks", "start_step": 248, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the small green block downward onto the larger green block."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the small green block, fingers gradually open and separate from the block."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: retreat: Right hand moves away from the assembled green blocks to the right side."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves towards the blue block placed on the black table."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the blue block on the black table."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the blue block resting on the black surface."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the blue block away from the black surface and moves it towards the stacked green blocks."}, {"label": "subtasks", "start_step": 615, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand lowers the blue block onto the top of the stacked green blocks."}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand adjusts the position of the blue block to align it with the connection points of the green blocks."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the blue block downwards to attach it firmly to the green blocks."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the orange block onto the black table, with fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "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 towards the orange block that is placed on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 table, with fingers closing to adjust and stabilize the grip."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block on the black tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the orange block off the tabletop and transports it to above the blue block."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "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 orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 908, "end_step": 1101, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the orange block downwards to mate it with the blue block securely."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the orange block and retreats from the assembled blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand moves slightly upwards at the left side of the frame, empty-handed. | Right hand: retreat: Right hand moves upwards and to the right, retreating from the operation position near the colorful building blocks, empty-handed."}, {"label": "home", "start_step": 1133, "end_step": 1173, "id": "ZLK6dQ0hlID_GbZIegDIX"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:move_upwards: Left hand moves upwards empty-handed, no contact with any operating objects. | Right hand: reach: Right hand moves downwards towards the small green block on the black table, empty-handed, without touching the block."}, {"label": "subtasks", "start_step": 52, "end_step": 104, "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 towards the small green block on the black table, empty-handed, without touching the block."}, {"label": "subtasks", "start_step": 105, "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 closes fingers to contact and grasp the small green block on the black table."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the small green block on the black surface."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the small green block off the black surface and moves it towards the larger green block."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00006", "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 larger green block placed on the black surface."}, {"label": "subtasks", "start_step": 248, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the small green block downward onto the larger green block."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the small green block, fingers gradually open and separate from the block."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: retreat: Right hand moves away from the assembled green blocks to the right side."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves towards the blue block placed on the black table."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the blue block on the black table."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the blue block resting on the black surface."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the blue block away from the black surface and moves it towards the stacked green blocks."}, {"label": "subtasks", "start_step": 615, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand lowers the blue block onto the top of the stacked green blocks."}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand adjusts the position of the blue block to align it with the connection points of the green blocks."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the blue block downwards to attach it firmly to the green blocks."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the orange block onto the black table, with fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "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 towards the orange block that is placed on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 table, with fingers closing to adjust and stabilize the grip."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block on the black tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the orange block off the tabletop and transports it to above the blue block."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "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 orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 908, "end_step": 1101, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the orange block downwards to mate it with the blue block securely."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the orange block and retreats from the assembled blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand moves slightly upwards at the left side of the frame, empty-handed. | Right hand: retreat: Right hand moves upwards and to the right, retreating from the operation position near the colorful building blocks, empty-handed."}], "episode_index": 19}
+{"source_uid": "8d10368d0acd926a", "num_frames": 1767, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand remains empty at its upper right home position without any observable movement."}, {"label": "valid", "start_step": 0, "end_step": 1721, "id": "w5bEXh_a2xTN0z6_IGUGP"}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves downward toward the small green 2x2 brick on the black table surface, with fingers held in a slightly extended open posture."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the small green 2x2 brick, closes fingers around the brick and makes small wrist and finger adjustments to establish grip, while the brick remains resting on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand extends fingers slightly to open the grip, releasing the small green 2x2 brick resting on the dark work surface."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves with empty open fingers toward the small green 2x2 brick on the dark work surface."}, {"label": "subtasks", "start_step": 240, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the small green 2x2 brick, adjusting finger positions and grip to form a stable hold, slightly lifting the brick during adjustment."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small green 2x2 brick steadily with no observable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves toward the upright small green 2x2 brick on the dark gray table surface, adjusting finger positions to approach the brick without making stable contact."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls fingers to contact the upright green brick, fails to establish a stable grasp, and knocks the brick over to lie flat on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves over the toppled flat green brick, adjusting its position and finger posture to re-align with the target brick."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand stays empty beside the toppled green brick on the table, with no visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 510, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls fingers around the flat green brick, making small continuous adjustments to finger contact points and grip tension to form a stable grasp, while the brick remains supported by the table."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: lift: Right hand moves upward with the stably grasped green brick, lifting the brick completely away from the table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: transport: Right hand holds the small light green brick and transports it downward toward the larger light green brick placed on the dark flat surface."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: place: Right hand lowers the small light green brick to place it on the upper surface of the larger light green brick, until the small brick is fully supported by the larger one."}, {"label": "subtasks", "start_step": 705, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small light green brick on top of the larger light green brick without any visible movement or finger adjustment."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers gradually to release the grip on the small light green brick, separating from the brick surface."}, {"label": "subtasks", "start_step": 825, "end_step": 907, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand remains empty in the area adjacent to the stacked green bricks without visible movement."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach_grasp: Right hand moves a short distance toward the small light green brick and closes its fingers to establish a stable grasp on the brick."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: press: Right hand applies downward pressure on the small light green brick to press it against the larger green brick below."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small light green brick on the larger green brick without visible movement of the hand, wrist or fingers."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers while moving upward to release the small light green brick, leaving the brick resting on the larger green brick."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves upward with an empty hand, retreating away from the stacked green bricks."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves rightward toward the blue 2x2 lego brick on the dark work surface, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls its fingers inward to close around the blue 2x2 lego brick, forming a stable grip on the brick while the brick remains on the work surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1244, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: mate: Right hand moves the grasped blue 2x2 lego brick leftward along the dark work surface to align with the adjacent green lego brick, presses down slightly to attach the two bricks together."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the attached blue lego brick, breaking contact between the hand and the brick surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves rightward away from the assembled lego bricks, with fingers held in a slightly spread position."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves leftward toward the orange 2x2 lego brick on the dark table surface, with fingers held slightly open as it approaches the brick."}, {"label": "subtasks", "start_step": 1312, "end_step": 1387, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls its fingers to close around the orange 2x2 lego brick, making small finger adjustments to form a stable grasp while the brick remains resting on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped orange 2x2 lego brick off the table surface, moving leftward to carry the brick toward the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: place: Right hand lowers the orange 2x2 lego brick onto the top surface of the stacked green and blue lego bricks until the orange brick is supported by the stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to align the orange 2x2 lego brick with the connection points on the stacked lego bricks, fitting the bricks into an assembled position."}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled orange lego brick in place on top of the stacked green and blue lego bricks without observable movement."}, {"label": "subtasks", "start_step": 1620, "end_step": 1694, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand extends its fingers and opens them to release the stacked lego blocks resting on the dark table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves upward with empty hand, retreating away from the released lego stack on the table."}, {"label": "home", "start_step": 1722, "end_step": 1766, "id": "QeqxOFFFETogdxFhtWnjb"}, {"label": "subtasks", "start_step": 1725, "end_step": 1766, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand remains empty at its upper right home position without any observable movement."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves downward toward the small green 2x2 brick on the black table surface, with fingers held in a slightly extended open posture."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the small green 2x2 brick, closes fingers around the brick and makes small wrist and finger adjustments to establish grip, while the brick remains resting on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand extends fingers slightly to open the grip, releasing the small green 2x2 brick resting on the dark work surface."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves with empty open fingers toward the small green 2x2 brick on the dark work surface."}, {"label": "subtasks", "start_step": 240, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the small green 2x2 brick, adjusting finger positions and grip to form a stable hold, slightly lifting the brick during adjustment."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small green 2x2 brick steadily with no observable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves toward the upright small green 2x2 brick on the dark gray table surface, adjusting finger positions to approach the brick without making stable contact."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls fingers to contact the upright green brick, fails to establish a stable grasp, and knocks the brick over to lie flat on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves over the toppled flat green brick, adjusting its position and finger posture to re-align with the target brick."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand stays empty beside the toppled green brick on the table, with no visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 510, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls fingers around the flat green brick, making small continuous adjustments to finger contact points and grip tension to form a stable grasp, while the brick remains supported by the table."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: lift: Right hand moves upward with the stably grasped green brick, lifting the brick completely away from the table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: transport: Right hand holds the small light green brick and transports it downward toward the larger light green brick placed on the dark flat surface."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: place: Right hand lowers the small light green brick to place it on the upper surface of the larger light green brick, until the small brick is fully supported by the larger one."}, {"label": "subtasks", "start_step": 705, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small light green brick on top of the larger light green brick without any visible movement or finger adjustment."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers gradually to release the grip on the small light green brick, separating from the brick surface."}, {"label": "subtasks", "start_step": 825, "end_step": 907, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand remains empty in the area adjacent to the stacked green bricks without visible movement."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach_grasp: Right hand moves a short distance toward the small light green brick and closes its fingers to establish a stable grasp on the brick."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: press: Right hand applies downward pressure on the small light green brick to press it against the larger green brick below."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small light green brick on the larger green brick without visible movement of the hand, wrist or fingers."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers while moving upward to release the small light green brick, leaving the brick resting on the larger green brick."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves upward with an empty hand, retreating away from the stacked green bricks."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves rightward toward the blue 2x2 lego brick on the dark work surface, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls its fingers inward to close around the blue 2x2 lego brick, forming a stable grip on the brick while the brick remains on the work surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1244, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: mate: Right hand moves the grasped blue 2x2 lego brick leftward along the dark work surface to align with the adjacent green lego brick, presses down slightly to attach the two bricks together."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the attached blue lego brick, breaking contact between the hand and the brick surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves rightward away from the assembled lego bricks, with fingers held in a slightly spread position."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves leftward toward the orange 2x2 lego brick on the dark table surface, with fingers held slightly open as it approaches the brick."}, {"label": "subtasks", "start_step": 1312, "end_step": 1387, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls its fingers to close around the orange 2x2 lego brick, making small finger adjustments to form a stable grasp while the brick remains resting on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped orange 2x2 lego brick off the table surface, moving leftward to carry the brick toward the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: place: Right hand lowers the orange 2x2 lego brick onto the top surface of the stacked green and blue lego bricks until the orange brick is supported by the stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to align the orange 2x2 lego brick with the connection points on the stacked lego bricks, fitting the bricks into an assembled position."}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled orange lego brick in place on top of the stacked green and blue lego bricks without observable movement."}, {"label": "subtasks", "start_step": 1620, "end_step": 1694, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand extends its fingers and opens them to release the stacked lego blocks resting on the dark table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves upward with empty hand, retreating away from the released lego stack on the table."}, {"label": "subtasks", "start_step": 1725, "end_step": 1766, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement."}], "episode_index": 20}
+{"source_uid": "1c6f60f8b1b373e9", "num_frames": 1461, "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": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly spreads its fingers to adjust posture while positioned in the upper left area, remaining empty with no contact to any objects. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture by slightly curving and spreading fingers while positioned in the upper right initial area, remaining empty without moving toward the Lego blocks."}, {"label": "valid", "start_step": 0, "end_step": 1411, "id": "H1QbeFI4-reHatPCashC6"}, {"label": "subtasks", "start_step": 45, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture by slightly curving and spreading fingers while positioned in the upper right initial area, remaining empty without moving toward the Lego blocks."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green Lego block on the black table surface, maintaining a curved pre-grasp finger posture as it approaches the block without making contact."}, {"label": "subtasks", "start_step": 105, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the small 2x2 green Lego block, making minor adjustments to finger contact points to form a stable grasp while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped small 2x2 green Lego block upward, fully separating the block from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate: Right hand holds the small light green Lego block, moves it downward to align it with the larger light green Lego block on the dark work surface to enter the assembly position."}, {"label": "subtasks", "start_step": 240, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press: Right hand presses down vertically on the aligned small light green Lego block to secure and embed it onto the larger light green Lego block."}, {"label": "subtasks", "start_step": 338, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: release: Right hand opens its fingers gradually to release the embedded small light green Lego block, moving fingers away from the grasping position."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains stationary near the assembled Lego blocks without grasping any object, with no observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves from above the green lego block toward the blue lego block on the dark table surface, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 472, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp_lift: Right hand closes fingers around the blue lego block on the dark table surface, adjusts grip to secure the block, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: transport_release: Right hand holds the blue lego block, moves it a short distance across the table area, and opens fingers to release the block as it falls toward the surface."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains empty near the green and orange lego blocks without moving."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach_reorient: Right hand moves left and downward from above the green block toward the blue block on the dark table, contacts the block and rotates it roughly 180 degrees to turn its studded top face upward while the block stays in nearly the same position."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand makes slight positional adjustments above the flipped blue block, repositioning fingers to prepare for gripping the block."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the blue block, making small adjustments to finger contact points to form a stable grip on the block while it rests on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the blue block steadily on the table surface, with no observable movement of the hand, fingers, or the gripped block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand maintains grip on the blue block, lifts it completely off the table surface, and moves it rightward to a position next to the green block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: place_release: Right hand lowers the blue block to rest on the table at the new position, then opens fingers to release the block and remains adjacent to the placed block."}, {"label": "subtasks", "start_step": 855, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the blue building block placed on the dark gray table with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 908, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the blue building block to form a stable grasp, with the block resting on the dark gray table surface."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift: Right hand raises the grasped blue building block upward to lift it completely off the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: transport: Right hand moves while holding the blue building block, carrying it toward the adjacent green building block on the table."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the held blue building block to align its connection points with the top connection points of the green building block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press_release: Right hand exerts downward pressure on the aligned blue building block to attach it to the green block, and opens fingers to release the connected blocks."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the small orange block on the dark table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the orange block resting on the table, making slight finger adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange block off the table surface and moves it horizontally to a position above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1268, "end_step": 1341, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate_release: Right hand aligns and fits the orange block onto the top of the stacked green and blue blocks, with fingers opening to release the connected block."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand extends the index finger and moves toward the top surface of the assembled orange block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press_retreat: Right index finger presses downward on the top surface of the orange block to secure the assembly, slightly retreating away from the block surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: return_home: Left hand moves toward the body-side home position and rotates about a quarter turn, adjusting its posture from fingers pointing rightward to fingers pointing upward. | Right hand: return_home: Right hand moves away from the stacked blocks toward the body-side home position and rotates about a quarter turn, adjusting its posture from a block-facing open posture to fingers pointing upward."}, {"label": "home", "start_step": 1412, "end_step": 1460, "id": "GjJVRWL0J9QffXVtjYlrj"}, {"label": "subtasks", "start_step": 1448, "end_step": 1460, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without any visible movement. | Right hand: idle: Right hand remains empty and stationary at the right home position without any visible movement."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly spreads its fingers to adjust posture while positioned in the upper left area, remaining empty with no contact to any objects. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture by slightly curving and spreading fingers while positioned in the upper right initial area, remaining empty without moving toward the Lego blocks."}, {"label": "subtasks", "start_step": 45, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture by slightly curving and spreading fingers while positioned in the upper right initial area, remaining empty without moving toward the Lego blocks."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green Lego block on the black table surface, maintaining a curved pre-grasp finger posture as it approaches the block without making contact."}, {"label": "subtasks", "start_step": 105, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the small 2x2 green Lego block, making minor adjustments to finger contact points to form a stable grasp while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped small 2x2 green Lego block upward, fully separating the block from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate: Right hand holds the small light green Lego block, moves it downward to align it with the larger light green Lego block on the dark work surface to enter the assembly position."}, {"label": "subtasks", "start_step": 240, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press: Right hand presses down vertically on the aligned small light green Lego block to secure and embed it onto the larger light green Lego block."}, {"label": "subtasks", "start_step": 338, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: release: Right hand opens its fingers gradually to release the embedded small light green Lego block, moving fingers away from the grasping position."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains stationary near the assembled Lego blocks without grasping any object, with no observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves from above the green lego block toward the blue lego block on the dark table surface, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 472, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp_lift: Right hand closes fingers around the blue lego block on the dark table surface, adjusts grip to secure the block, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: transport_release: Right hand holds the blue lego block, moves it a short distance across the table area, and opens fingers to release the block as it falls toward the surface."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains empty near the green and orange lego blocks without moving."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach_reorient: Right hand moves left and downward from above the green block toward the blue block on the dark table, contacts the block and rotates it roughly 180 degrees to turn its studded top face upward while the block stays in nearly the same position."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand makes slight positional adjustments above the flipped blue block, repositioning fingers to prepare for gripping the block."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the blue block, making small adjustments to finger contact points to form a stable grip on the block while it rests on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the blue block steadily on the table surface, with no observable movement of the hand, fingers, or the gripped block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand maintains grip on the blue block, lifts it completely off the table surface, and moves it rightward to a position next to the green block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: place_release: Right hand lowers the blue block to rest on the table at the new position, then opens fingers to release the block and remains adjacent to the placed block."}, {"label": "subtasks", "start_step": 855, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the blue building block placed on the dark gray table with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 908, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the blue building block to form a stable grasp, with the block resting on the dark gray table surface."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift: Right hand raises the grasped blue building block upward to lift it completely off the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: transport: Right hand moves while holding the blue building block, carrying it toward the adjacent green building block on the table."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the held blue building block to align its connection points with the top connection points of the green building block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press_release: Right hand exerts downward pressure on the aligned blue building block to attach it to the green block, and opens fingers to release the connected blocks."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the small orange block on the dark table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the orange block resting on the table, making slight finger adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange block off the table surface and moves it horizontally to a position above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1268, "end_step": 1341, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate_release: Right hand aligns and fits the orange block onto the top of the stacked green and blue blocks, with fingers opening to release the connected block."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand extends the index finger and moves toward the top surface of the assembled orange block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press_retreat: Right index finger presses downward on the top surface of the orange block to secure the assembly, slightly retreating away from the block surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: return_home: Left hand moves toward the body-side home position and rotates about a quarter turn, adjusting its posture from fingers pointing rightward to fingers pointing upward. | Right hand: return_home: Right hand moves away from the stacked blocks toward the body-side home position and rotates about a quarter turn, adjusting its posture from a block-facing open posture to fingers pointing upward."}, {"label": "subtasks", "start_step": 1448, "end_step": 1460, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without any visible movement. | Right hand: idle: Right hand remains empty and stationary at the right home position without any visible movement."}], "episode_index": 21}
+{"source_uid": "c514522dc977a7d4", "num_frames": 1101, "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": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves forward and downward toward the building blocks placed on the black table."}, {"label": "valid", "start_step": 0, "end_step": 1060, "id": "pPLdzg1mhCGktlNvT0WTH"}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves towards the small green building block on the black surface."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small green building block, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block off the black surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block up from the black surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the small green building block toward the larger green building block."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the small green building block onto the larger green building block."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the small green building block on the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block completely off the black table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the small green building block to the position above the larger green building block."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand lowers the small green building block onto the top surface of the larger green building block."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens its fingers to release the small green building block."}, {"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the small green building block placed on the black surface by opening its fingers."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the blue building block on the black surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue building block on the black table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 465, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the blue building block on the black table without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the blue building block from the table surface and transports it above the green building block."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the blue building block onto the top surface of the green building block."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the blue building block down to mate with the green building block."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the blue building block with fingers opening."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the blue building block placed on the gray work surface."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the orange building block on the gray work surface."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the orange building block on the gray work surface."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the orange building block on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the orange building block from the tabletop and transports it toward the stacked blue and green building blocks."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the orange building block onto the top of the stacked blue building block."}, {"label": "subtasks", "start_step": 848, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the orange building block down onto the blue building block to complete the assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the orange building block on top of the stacked blocks."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand moves backward away from the building blocks."}, {"label": "home", "start_step": 1061, "end_step": 1100, "id": "lXt4IdTGs8qvxbZtTWnrX"}, {"label": "subtasks", "start_step": 1065, "end_step": 1100, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves forward and downward toward the building blocks placed on the black table."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves towards the small green building block on the black surface."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small green building block, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block off the black surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block up from the black surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the small green building block toward the larger green building block."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the small green building block onto the larger green building block."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the small green building block on the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block completely off the black table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the small green building block to the position above the larger green building block."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand lowers the small green building block onto the top surface of the larger green building block."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens its fingers to release the small green building block."}, {"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the small green building block placed on the black surface by opening its fingers."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the blue building block on the black surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue building block on the black table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 465, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the blue building block on the black table without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the blue building block from the table surface and transports it above the green building block."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the blue building block onto the top surface of the green building block."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the blue building block down to mate with the green building block."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the blue building block with fingers opening."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the blue building block placed on the gray work surface."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the orange building block on the gray work surface."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the orange building block on the gray work surface."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the orange building block on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the orange building block from the tabletop and transports it toward the stacked blue and green building blocks."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the orange building block onto the top of the stacked blue building block."}, {"label": "subtasks", "start_step": 848, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the orange building block down onto the blue building block to complete the assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the orange building block on top of the stacked blocks."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand moves backward away from the building blocks."}, {"label": "subtasks", "start_step": 1065, "end_step": 1100, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving."}], "episode_index": 22}
+{"source_uid": "0e7d3ab963ce5806", "num_frames": 1590, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves upward from its initial upright position with fingers spreading open, rising to the upper left area while remaining empty. | Right hand: other:adjust_posture: Right hand moves upward from its initial upright position, adjusting wrist and finger posture as it moves to the upper right area, remaining empty."}, {"label": "valid", "start_step": 0, "end_step": 1545, "id": "oycya0kmDatWjS9wWL3AG"}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: other:adjust_posture: Left hand moves upward from its initial upright position with fingers spreading open, rising to the upper left area while remaining empty. | Right hand: reach: Right hand moves downward from the upper right area toward the small green block on the black table surface, fingers curving slightly as it approaches the target."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: other:adjust_posture: Left hand makes slight downward posture adjustments at the upper left area, keeping fingers spread and not touching any blocks on the table. | Right hand: reach: Right hand moves downward from the upper right area toward the small green block on the black table surface, fingers curving slightly as it approaches the target."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: other:adjust_object_position: Right hand makes contact with the small green Lego brick on the dark table surface, adjusting its position by sliding the brick slightly across the table with small finger and wrist movements."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand, now empty, moves slightly upward and away from the small green Lego brick after releasing contact with it."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves downward through the air toward the small green Lego brick, approaching the brick without making contact."}, {"label": "subtasks", "start_step": 248, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: other:adjust_object_position: Right hand makes contact with the small green Lego brick again, adjusting its position on the dark table surface via small finger and wrist movements."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift_transport: Right hand holds the small green lego brick, lifts it from the table surface and moves it downward to make contact with the larger flat green lego brick."}, {"label": "subtasks", "start_step": 368, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: mate: Right hand adjusts the position of the small green lego brick on the larger flat green lego brick to align their interlocking points, with fingers making fine positional adjustments to the brick."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand presses vertically down on the aligned small green lego brick to fasten it securely to the larger flat green lego brick."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: release: Right hand opens its fingers to release the fastened small green lego brick, breaking physical contact with the brick."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward away from the assembled green lego bricks as an empty hand."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves right across the dark table surface toward the small blue lego brick, with fingers held slightly open as it approaches the brick."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: grasp: Right hand adjusts the positions of its thumb and index finger around the small blue lego brick, closing fingers gradually to form a stable grip on the brick while the brick remains on the table."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift: Right hand holds the small blue lego brick and lifts it upward, raising the brick completely off the dark table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: transport: Right hand carries the lifted small blue lego brick, moving it downward and to the left across the table area."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: transport: Right hand holds the small blue lego brick and moves leftward toward the green lego brick."}, {"label": "subtasks", "start_step": 772, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: place: Right hand lowers the grasped small blue lego brick onto the table surface adjacent to the green lego brick until the brick is fully supported by the table."}, {"label": "subtasks", "start_step": 825, "end_step": 944, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: mate_release: Right hand adjusts the grasped blue lego brick to align tightly against the adjacent green lego brick, opening fingers to release the brick."}, {"label": "subtasks", "start_step": 945, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand uses fingers to press the top and side surfaces of the blue lego brick to secure its position next to the green lego brick on the table."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward and rightward away from the lego bricks, retreating from the operation area with an empty hand."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves upward and right toward the small orange lego brick on the dark gray surface, remaining empty with fingers slightly extended."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: grasp: Right hand closes fingers around the small orange lego brick, making slight positional adjustments of the fingers and wrist to form a stable grip while the brick stays on the dark gray surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift_transport: Right hand lifts the small orange lego brick completely off the dark gray surface and moves it downward and left toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: place: Right hand holds the small orange lego brick and moves it downward to place it on top of the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: hold: Right hand holds the stably placed small orange lego brick on the lego stack without obvious movement or adjustment."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: release: Right hand opens its fingers gradually to release the grasp on the orange lego brick, separating the fingers from the brick surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand positions its finger on the top surface of the orange lego brick and presses vertically downward to secure the brick to the stack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward and away from the lego stack as an empty hand after the pressing action."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward and backward with an empty hand to reach the home position and stops. | Right hand: return_home: Right hand moves upward and backward with an empty hand to reach the home position and stops."}, {"label": "home", "start_step": 1546, "end_step": 1589, "id": "R3hX75Xja5kZmWmH7cQ9z"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves upward from its initial upright position with fingers spreading open, rising to the upper left area while remaining empty. | Right hand: other:adjust_posture: Right hand moves upward from its initial upright position, adjusting wrist and finger posture as it moves to the upper right area, remaining empty."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: other:adjust_posture: Left hand moves upward from its initial upright position with fingers spreading open, rising to the upper left area while remaining empty. | Right hand: reach: Right hand moves downward from the upper right area toward the small green block on the black table surface, fingers curving slightly as it approaches the target."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: other:adjust_posture: Left hand makes slight downward posture adjustments at the upper left area, keeping fingers spread and not touching any blocks on the table. | Right hand: reach: Right hand moves downward from the upper right area toward the small green block on the black table surface, fingers curving slightly as it approaches the target."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: other:adjust_object_position: Right hand makes contact with the small green Lego brick on the dark table surface, adjusting its position by sliding the brick slightly across the table with small finger and wrist movements."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand, now empty, moves slightly upward and away from the small green Lego brick after releasing contact with it."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves downward through the air toward the small green Lego brick, approaching the brick without making contact."}, {"label": "subtasks", "start_step": 248, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: other:adjust_object_position: Right hand makes contact with the small green Lego brick again, adjusting its position on the dark table surface via small finger and wrist movements."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift_transport: Right hand holds the small green lego brick, lifts it from the table surface and moves it downward to make contact with the larger flat green lego brick."}, {"label": "subtasks", "start_step": 368, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: mate: Right hand adjusts the position of the small green lego brick on the larger flat green lego brick to align their interlocking points, with fingers making fine positional adjustments to the brick."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand presses vertically down on the aligned small green lego brick to fasten it securely to the larger flat green lego brick."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: release: Right hand opens its fingers to release the fastened small green lego brick, breaking physical contact with the brick."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward away from the assembled green lego bricks as an empty hand."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves right across the dark table surface toward the small blue lego brick, with fingers held slightly open as it approaches the brick."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: grasp: Right hand adjusts the positions of its thumb and index finger around the small blue lego brick, closing fingers gradually to form a stable grip on the brick while the brick remains on the table."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift: Right hand holds the small blue lego brick and lifts it upward, raising the brick completely off the dark table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: transport: Right hand carries the lifted small blue lego brick, moving it downward and to the left across the table area."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: transport: Right hand holds the small blue lego brick and moves leftward toward the green lego brick."}, {"label": "subtasks", "start_step": 772, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: place: Right hand lowers the grasped small blue lego brick onto the table surface adjacent to the green lego brick until the brick is fully supported by the table."}, {"label": "subtasks", "start_step": 825, "end_step": 944, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: mate_release: Right hand adjusts the grasped blue lego brick to align tightly against the adjacent green lego brick, opening fingers to release the brick."}, {"label": "subtasks", "start_step": 945, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand uses fingers to press the top and side surfaces of the blue lego brick to secure its position next to the green lego brick on the table."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward and rightward away from the lego bricks, retreating from the operation area with an empty hand."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves upward and right toward the small orange lego brick on the dark gray surface, remaining empty with fingers slightly extended."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: grasp: Right hand closes fingers around the small orange lego brick, making slight positional adjustments of the fingers and wrist to form a stable grip while the brick stays on the dark gray surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift_transport: Right hand lifts the small orange lego brick completely off the dark gray surface and moves it downward and left toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: place: Right hand holds the small orange lego brick and moves it downward to place it on top of the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: hold: Right hand holds the stably placed small orange lego brick on the lego stack without obvious movement or adjustment."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: release: Right hand opens its fingers gradually to release the grasp on the orange lego brick, separating the fingers from the brick surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand positions its finger on the top surface of the orange lego brick and presses vertically downward to secure the brick to the stack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward and away from the lego stack as an empty hand after the pressing action."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward and backward with an empty hand to reach the home position and stops. | Right hand: return_home: Right hand moves upward and backward with an empty hand to reach the home position and stops."}], "episode_index": 23}
+{"source_uid": "1a830be59ea0da02", "num_frames": 1642, "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": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly opens its fingers while staying raised at the upper left area of the table, with no obvious large position change. | Right hand: other:adjust_hand_posture: Right hand slightly opens its fingers while staying raised at the upper right area of the table, with no obvious large position change."}, {"label": "valid", "start_step": 0, "end_step": 1595, "id": "BDNYXOGIPlnK6O3JKrF99"}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: idle: Right hand remains empty and raised at the upper right of the table without obvious movement or posture change."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach: Right hand moves downward toward the colorful lego blocks on the table with an empty hand, approaching the blocks without forming a closed grasp."}, {"label": "subtasks", "start_step": 120, "end_step": 374, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand closes fingers around the small light green Lego brick on the dark work surface, making fine adjustments to finger contact points and wrist angle, rotating the brick slightly to establish a stable grip."}, {"label": "subtasks", "start_step": 375, "end_step": 547, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand holds the small light green Lego brick, adjusts its position and aligns it to the connection studs on the larger stacked light green Lego brick below."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses down on the top surface of the small light green Lego brick to fasten it to the larger light green Lego brick underneath."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: retreat: Right hand moves upward and backward away from the stacked light green Lego bricks while empty."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach_grasp: Right hand moves from the area near the stacked light green Lego bricks toward the blue Lego brick, closes fingers around the blue Lego brick, and makes continuous small adjustments of fingers and wrist to form a stable grip on the brick resting on the dark surface."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift: Right hand moves upward with the grasped blue Lego brick, lifting the brick completely away from the dark supporting surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: transport: Right hand carries the lifted blue Lego brick through the air, moving the brick toward the stacked light green Lego bricks."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand positions the blue Lego brick against the top of the stacked light green Lego bricks, makes small wrist and finger adjustments to align the bricks for assembly, and attaches the blue brick to the green brick stack."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand adjusts the positions of its fingers around the blue Lego brick on the dark work surface to form a stable, secure grip on the brick."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift: Right hand holds the blue Lego brick firmly and lifts it upward until the brick is completely lifted off the dark work surface."}, {"label": "subtasks", "start_step": 885, "end_step": 951, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: transport: Right hand carries the lifted blue Lego brick, moving it horizontally toward the stacked light green Lego brick while adjusting its position to align with the light green brick's top."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: place: Right hand lowers the blue Lego brick vertically until the brick rests fully on the top surface of the light green Lego brick, supported by the light green structure."}, {"label": "subtasks", "start_step": 982, "end_step": 1101, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses vertically down on the top of the blue Lego brick, making small finger adjustments to apply steady pressure to secure the connection between the two bricks."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release: Right hand opens its fingers gradually to release its grip on the blue Lego brick, with fingers beginning to move away from the brick."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach: Right hand moves toward the orange Lego brick on the black work surface with fingers slightly spread, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand makes contact with the orange Lego brick, fingers close around the brick and adjust slightly to form a stable grip while the brick remains resting on the work surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift_transport: Right hand lifts the orange Lego brick completely off the work surface and moves the brick toward the stacked green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand aligns the orange Lego brick with the top surface of the stacked green Lego brick, presses down slightly to fit the two bricks together."}, {"label": "subtasks", "start_step": 1320, "end_step": 1424, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand makes small finger and wrist adjustments to stabilize its grip on the orange Lego brick."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: place: Right hand moves the orange Lego brick downward to place it on top of the stacked blue Lego bricks, until the brick is supported by the blue stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1551, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses down on the top surface of the orange Lego brick to secure it to the underlying blue Lego stack."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}, {"label": "home", "start_step": 1596, "end_step": 1641, "id": "m-FD5ZfyO8RoUtB9OrmXN"}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00027", "text": "Left hand: return_home: Left hand moves upward and backward toward the left home position, rotates the wrist slightly to point fingers upward, and stops stationary at the home position. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly opens its fingers while staying raised at the upper left area of the table, with no obvious large position change. | Right hand: other:adjust_hand_posture: Right hand slightly opens its fingers while staying raised at the upper right area of the table, with no obvious large position change."}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: idle: Right hand remains empty and raised at the upper right of the table without obvious movement or posture change."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach: Right hand moves downward toward the colorful lego blocks on the table with an empty hand, approaching the blocks without forming a closed grasp."}, {"label": "subtasks", "start_step": 120, "end_step": 374, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand closes fingers around the small light green Lego brick on the dark work surface, making fine adjustments to finger contact points and wrist angle, rotating the brick slightly to establish a stable grip."}, {"label": "subtasks", "start_step": 375, "end_step": 547, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand holds the small light green Lego brick, adjusts its position and aligns it to the connection studs on the larger stacked light green Lego brick below."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses down on the top surface of the small light green Lego brick to fasten it to the larger light green Lego brick underneath."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: retreat: Right hand moves upward and backward away from the stacked light green Lego bricks while empty."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach_grasp: Right hand moves from the area near the stacked light green Lego bricks toward the blue Lego brick, closes fingers around the blue Lego brick, and makes continuous small adjustments of fingers and wrist to form a stable grip on the brick resting on the dark surface."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift: Right hand moves upward with the grasped blue Lego brick, lifting the brick completely away from the dark supporting surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: transport: Right hand carries the lifted blue Lego brick through the air, moving the brick toward the stacked light green Lego bricks."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand positions the blue Lego brick against the top of the stacked light green Lego bricks, makes small wrist and finger adjustments to align the bricks for assembly, and attaches the blue brick to the green brick stack."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand adjusts the positions of its fingers around the blue Lego brick on the dark work surface to form a stable, secure grip on the brick."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift: Right hand holds the blue Lego brick firmly and lifts it upward until the brick is completely lifted off the dark work surface."}, {"label": "subtasks", "start_step": 885, "end_step": 951, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: transport: Right hand carries the lifted blue Lego brick, moving it horizontally toward the stacked light green Lego brick while adjusting its position to align with the light green brick's top."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: place: Right hand lowers the blue Lego brick vertically until the brick rests fully on the top surface of the light green Lego brick, supported by the light green structure."}, {"label": "subtasks", "start_step": 982, "end_step": 1101, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses vertically down on the top of the blue Lego brick, making small finger adjustments to apply steady pressure to secure the connection between the two bricks."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release: Right hand opens its fingers gradually to release its grip on the blue Lego brick, with fingers beginning to move away from the brick."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach: Right hand moves toward the orange Lego brick on the black work surface with fingers slightly spread, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand makes contact with the orange Lego brick, fingers close around the brick and adjust slightly to form a stable grip while the brick remains resting on the work surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift_transport: Right hand lifts the orange Lego brick completely off the work surface and moves the brick toward the stacked green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand aligns the orange Lego brick with the top surface of the stacked green Lego brick, presses down slightly to fit the two bricks together."}, {"label": "subtasks", "start_step": 1320, "end_step": 1424, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand makes small finger and wrist adjustments to stabilize its grip on the orange Lego brick."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: place: Right hand moves the orange Lego brick downward to place it on top of the stacked blue Lego bricks, until the brick is supported by the blue stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1551, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses down on the top surface of the orange Lego brick to secure it to the underlying blue Lego stack."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00027", "text": "Left hand: return_home: Left hand moves upward and backward toward the left home position, rotates the wrist slightly to point fingers upward, and stops stationary at the home position. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}], "episode_index": 24}
+{"source_uid": "843d3ea6d9275624", "num_frames": 1285, "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": 74, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward, adjusts its finger postures, and approaches the building blocks above the black table. | Right hand: reach: Right hand moves upward, adjusts its finger postures, and approaches the blue building block above the black table."}, {"label": "valid", "start_step": 0, "end_step": 1237, "id": "UphKt82U_qPrggbP4JiqQ"}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small green block on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the small green block on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00004", "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 upward away from the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the small green block and transports it above the other green block placed on the table."}, {"label": "subtasks", "start_step": 278, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the small green block with the green block on the table to mate them together."}, {"label": "subtasks", "start_step": 338, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the small green block down onto the green block on the table to secure the assembly."}, {"label": "subtasks", "start_step": 382, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the small green block, separating from the block."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward slightly away from the assembled green blocks."}, {"label": "subtasks", "start_step": 480, "end_step": 614, "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 its fingers to form a stable grasp on the blue block on the table."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00011", "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 upwards off the table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00012", "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 horizontally to the position above the green block."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and places the blue block onto the green block for assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the grasped blue block."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the blue block downwards to tighten the assembly with the green block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the assembled blocks to the right side."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed on the table."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block off the table and transports it above the green-blue combined block."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top of the green-blue block to fit them together."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "id": "reasoning-language-00021", "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 green-blue block to secure the assembly."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the orange block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the assembled blocks without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: return_home: Left hand moves backward to its initial position on the left side while remaining empty. | Right hand: return_home: Right hand moves backward to its initial position on the right side while remaining empty."}, {"label": "home", "start_step": 1238, "end_step": 1284, "id": "u5yqm61Z7vl3N19MjkNXp"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward, adjusts its finger postures, and approaches the building blocks above the black table. | Right hand: reach: Right hand moves upward, adjusts its finger postures, and approaches the blue building block above the black table."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small green block on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the small green block on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00004", "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 upward away from the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the small green block and transports it above the other green block placed on the table."}, {"label": "subtasks", "start_step": 278, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the small green block with the green block on the table to mate them together."}, {"label": "subtasks", "start_step": 338, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the small green block down onto the green block on the table to secure the assembly."}, {"label": "subtasks", "start_step": 382, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the small green block, separating from the block."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward slightly away from the assembled green blocks."}, {"label": "subtasks", "start_step": 480, "end_step": 614, "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 its fingers to form a stable grasp on the blue block on the table."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00011", "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 upwards off the table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00012", "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 horizontally to the position above the green block."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and places the blue block onto the green block for assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the grasped blue block."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the blue block downwards to tighten the assembly with the green block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the assembled blocks to the right side."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed on the table."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block off the table and transports it above the green-blue combined block."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top of the green-blue block to fit them together."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "id": "reasoning-language-00021", "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 green-blue block to secure the assembly."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the orange block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the assembled blocks without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: return_home: Left hand moves backward to its initial position on the left side while remaining empty. | Right hand: return_home: Right hand moves backward to its initial position on the right side while remaining empty."}], "episode_index": 25}
+{"source_uid": "216477cf5f451482", "num_frames": 1116, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: idle: Right hand remains empty in the upper right raised position without active movement."}, {"label": "valid", "start_step": 0, "end_step": 1070, "id": "x8jdGjXV-1zeIVdLInPLg"}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves downward with extended fingers, approaching the small building blocks on the dark table surface without making contact with the blocks."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand makes contact with the small green and orange building blocks on the table, fingers closing and adjusting slightly to establish a grip on the blocks."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release: Right hand opens fingers to release the small light green Lego block and small orange Lego block, fully separating from both blocks by the end of the segment."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves with empty fingers toward the small light green Lego block on the dark work surface."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand adjusts extended finger positions to establish stable contact with the small light green Lego block on the dark surface without moving the block."}, {"label": "subtasks", "start_step": 255, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: push: Right hand uses extended fingers to push the small light green Lego block across the dark surface toward the larger green Lego block."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: hold: Right hand remains stationary with extended fingers contacting the small light green Lego block, which rests against the larger green Lego block with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: push_reach: Right hand index finger pushes the stacked light green Lego block slightly to shift its position on the dark gray work surface, with the finger moving away from the block toward the nearby orange Lego block."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: idle: Right hand stays stationary with the index finger resting on the small orange Lego block, no observable movement."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: other:adjust_lego_position: Right hand moves the index finger back to the stacked light green Lego block, presses and pushes the block to make small positional adjustments on the work surface, lifting the finger off the block and moving away at the end of the segment."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves toward the blue Lego block on the dark gray surface with fingers slightly spread and extended."}, {"label": "subtasks", "start_step": 502, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand curls fingers around the blue Lego block, making small adjustments to finger positions to secure the grip while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: transport: Right hand holds the secured blue Lego block and moves it horizontally toward the adjacent green Lego block."}, {"label": "subtasks", "start_step": 668, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: mate: Right hand adjusts the position of the blue Lego block to align and fit it onto the top surface of the green Lego block."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release_retreat: Right hand opens fingers to release the blue Lego block fitted on the green block, moving slightly away from the assembled blocks with an empty hand."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves toward the orange Lego block resting on the dark gray surface, with extended fingers approaching the target block."}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand curls fingers to close around the orange Lego block, adjusting finger contact points to form a stable grasp while the block remains on the dark gray supporting surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: lift: Right hand lifts the grasped orange Lego block upward until the block is completely separated from the dark gray supporting surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: transport: Right hand carries the lifted orange Lego block, moving it downward toward the stacked blue and green Lego blocks below."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: place: Right hand lowers the orange Lego block until the block rests on and is supported by the blue Lego block beneath it."}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: mate: Right hand adjusts the position of the orange Lego block slightly to align it properly with the blue Lego block below, completing the stacking alignment."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release: Right hand extends fingers to open, releasing the grasp on the orange Lego block and separating fingers from the block surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves its extended index finger downward toward the top surface of the stacked orange Lego block, with the fingertip not yet touching the block surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: press_retreat: Right hand applies downward vertical pressure on the top surface of the orange Lego block with its extended index finger, lifting the index finger upward away from the block to complete the pressing motion."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand remains empty and moves upward from the position near the stacked Lego blocks to return to the left home position. | Right hand: return_home: Right hand remains empty and moves upward from the position near the stacked Lego blocks to return to the right home position."}, {"label": "home", "start_step": 1071, "end_step": 1115, "id": "RLCKVcdMXRdRZc2_5v9ND"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: idle: Right hand remains empty in the upper right raised position without active movement."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves downward with extended fingers, approaching the small building blocks on the dark table surface without making contact with the blocks."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand makes contact with the small green and orange building blocks on the table, fingers closing and adjusting slightly to establish a grip on the blocks."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release: Right hand opens fingers to release the small light green Lego block and small orange Lego block, fully separating from both blocks by the end of the segment."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves with empty fingers toward the small light green Lego block on the dark work surface."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand adjusts extended finger positions to establish stable contact with the small light green Lego block on the dark surface without moving the block."}, {"label": "subtasks", "start_step": 255, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: push: Right hand uses extended fingers to push the small light green Lego block across the dark surface toward the larger green Lego block."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: hold: Right hand remains stationary with extended fingers contacting the small light green Lego block, which rests against the larger green Lego block with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: push_reach: Right hand index finger pushes the stacked light green Lego block slightly to shift its position on the dark gray work surface, with the finger moving away from the block toward the nearby orange Lego block."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: idle: Right hand stays stationary with the index finger resting on the small orange Lego block, no observable movement."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: other:adjust_lego_position: Right hand moves the index finger back to the stacked light green Lego block, presses and pushes the block to make small positional adjustments on the work surface, lifting the finger off the block and moving away at the end of the segment."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves toward the blue Lego block on the dark gray surface with fingers slightly spread and extended."}, {"label": "subtasks", "start_step": 502, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand curls fingers around the blue Lego block, making small adjustments to finger positions to secure the grip while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: transport: Right hand holds the secured blue Lego block and moves it horizontally toward the adjacent green Lego block."}, {"label": "subtasks", "start_step": 668, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: mate: Right hand adjusts the position of the blue Lego block to align and fit it onto the top surface of the green Lego block."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release_retreat: Right hand opens fingers to release the blue Lego block fitted on the green block, moving slightly away from the assembled blocks with an empty hand."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves toward the orange Lego block resting on the dark gray surface, with extended fingers approaching the target block."}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand curls fingers to close around the orange Lego block, adjusting finger contact points to form a stable grasp while the block remains on the dark gray supporting surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: lift: Right hand lifts the grasped orange Lego block upward until the block is completely separated from the dark gray supporting surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: transport: Right hand carries the lifted orange Lego block, moving it downward toward the stacked blue and green Lego blocks below."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: place: Right hand lowers the orange Lego block until the block rests on and is supported by the blue Lego block beneath it."}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: mate: Right hand adjusts the position of the orange Lego block slightly to align it properly with the blue Lego block below, completing the stacking alignment."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release: Right hand extends fingers to open, releasing the grasp on the orange Lego block and separating fingers from the block surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves its extended index finger downward toward the top surface of the stacked orange Lego block, with the fingertip not yet touching the block surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: press_retreat: Right hand applies downward vertical pressure on the top surface of the orange Lego block with its extended index finger, lifting the index finger upward away from the block to complete the pressing motion."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand remains empty and moves upward from the position near the stacked Lego blocks to return to the left home position. | Right hand: return_home: Right hand remains empty and moves upward from the position near the stacked Lego blocks to return to the right home position."}], "episode_index": 26}
+{"source_uid": "0424c4046b42f98d", "num_frames": 2864, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand moves slightly upward, adjusting finger and wrist posture while remaining empty and out of contact with any objects. | Right hand: other:adjust_hand_posture: Right hand adjusts its initial wrist and finger posture, remaining empty above the right side of the black table."}, {"label": "valid", "start_step": 0, "end_step": 2818, "id": "TFTDqCW9eUmutFMKX17w_"}, {"label": "subtasks", "start_step": 52, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:adjust_hand_posture: Right hand adjusts its initial wrist and finger posture, remaining empty above the right side of the black table."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the table, with fingers held slightly open."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp_release: Right hand fingers close to make contact with the small green lego brick, adjust position to shift the brick slightly on the black table, and open fingers to separate from the brick."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: idle: Right hand stays empty in the position above the shifted small green lego brick with no visible movement."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the table, with fingers held open."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp_release: Right hand fingers close to contact the top surface of the small green lego brick, adjust finger placement on the brick, and open fingers to separate from the brick."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves upward away from the small green lego brick, remaining empty as it retreats."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small blue lego brick on the dark gray surface, fingers approaching the brick without making contact."}, {"label": "subtasks", "start_step": 330, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand fingers make contact with the small blue lego brick, close and adjust positions to form a stable grip on the brick while the brick remains on the supporting surface."}, {"label": "subtasks", "start_step": 382, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reorient_release: Right hand rotates the gripped small blue lego brick with a small wrist rotation to adjust its upright orientation, opens fingers to release the properly positioned brick onto the supporting surface."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves upward away from the released small blue lego brick, retreating from the brick's position with an empty hand."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves toward the small green lego brick on the dark gray work surface with open fingers, approaching the target brick."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes its fingers around the small green lego brick, making small finger adjustments to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the small green lego brick fully off the work surface and moves it horizontally toward the longer green lego brick positioned to the right."}, {"label": "subtasks", "start_step": 698, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the small green lego brick onto the upper surface of the longer green lego brick, making small positional adjustments to align the small brick."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the small green lego brick, breaking contact with the brick as it tips over onto the work surface."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves with open fingers toward the tipped small green lego brick on the work surface, approaching the fallen brick."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:nudge_brick: Right hand uses extended fingers to nudge the tipped small green lego brick, adjusting its orientation to set it upright on the work surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1071, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: idle: Right hand remains empty above the work surface near the upright small green lego brick without any visible movement."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes its fingers around the upright small green lego brick, adjusting finger positions to establish a stable grip on the brick."}, {"label": "subtasks", "start_step": 1118, "end_step": 1199, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the small green lego brick fully off the work surface and moves it horizontally toward the longer green lego brick below."}, {"label": "subtasks", "start_step": 1200, "end_step": 1341, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the small green lego brick onto the upper surface of the longer green lego brick, making small alignment adjustments and applying gentle pressure to seat the brick."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the stacked small green lego brick, fully separating from contact with the brick."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves away from the stacked lego bricks while empty, retreating from the operation position."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach_grasp: Right hand moves toward the small upright blue lego brick resting on the dark gray table surface, adjusting finger positions to close around the brick and form a stable grasp."}, {"label": "subtasks", "start_step": 1485, "end_step": 1709, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: push: Right hand maintains contact with the grasped small blue lego brick, pushing the brick leftward across the dark table surface until it rests adjacent to the stacked green lego bricks."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the held small blue lego brick, lifting the digits slightly away from the sides of the brick."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: press_retreat: Right hand moves its index finger down to apply downward pressure on the top surface of the small blue lego brick, lifting the finger away from the brick as pressure is completed."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves rightward while empty to approach the small orange lego brick on the dark gray flat surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes fingers around the small orange lego brick, adjusting finger positions to establish a stable grip on the brick resting on the surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 2519, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:repeatedly_flip_lego: Right hand grips the small orange lego brick, repeatedly lifting it slightly off the dark gray surface, rotating it around multiple axes to change its facing direction, and placing it back onto the surface, with continuous small adjustments of fingers and wrist throughout the process."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the small orange lego brick resting on the dark work surface, with the brick remaining on the surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2579, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the grasped orange lego brick clear of the dark surface and moves it horizontally leftward to position it directly over the existing stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 2580, "end_step": 2774, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the orange lego brick onto the top of the stacked green and blue bricks, makes small positional adjustments to align the brick and applies downward pressure to seat it properly."}, {"label": "subtasks", "start_step": 2775, "end_step": 2804, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release_retreat: Right hand opens its fingers to release the seated orange lego brick, then moves upward and rightward away from the lego stack with an empty hand."}, {"label": "subtasks", "start_step": 2805, "end_step": 2863, "id": "reasoning-language-00037", "text": "Left hand: retreat: Left hand remains empty, moves upward and backward away from the stacked lego bricks on the dark table surface, with fingers gradually closing during movement. | Right hand: retreat: Right hand remains empty, moves upward and backward away from the stacked lego bricks on the dark table surface, with fingers gradually adjusting posture during movement."}, {"label": "home", "start_step": 2819, "end_step": 2863, "id": "mXC_301U-Su_J1VAZCeBI"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand moves slightly upward, adjusting finger and wrist posture while remaining empty and out of contact with any objects. | Right hand: other:adjust_hand_posture: Right hand adjusts its initial wrist and finger posture, remaining empty above the right side of the black table."}, {"label": "subtasks", "start_step": 52, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:adjust_hand_posture: Right hand adjusts its initial wrist and finger posture, remaining empty above the right side of the black table."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the table, with fingers held slightly open."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp_release: Right hand fingers close to make contact with the small green lego brick, adjust position to shift the brick slightly on the black table, and open fingers to separate from the brick."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: idle: Right hand stays empty in the position above the shifted small green lego brick with no visible movement."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the table, with fingers held open."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp_release: Right hand fingers close to contact the top surface of the small green lego brick, adjust finger placement on the brick, and open fingers to separate from the brick."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves upward away from the small green lego brick, remaining empty as it retreats."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small blue lego brick on the dark gray surface, fingers approaching the brick without making contact."}, {"label": "subtasks", "start_step": 330, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand fingers make contact with the small blue lego brick, close and adjust positions to form a stable grip on the brick while the brick remains on the supporting surface."}, {"label": "subtasks", "start_step": 382, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reorient_release: Right hand rotates the gripped small blue lego brick with a small wrist rotation to adjust its upright orientation, opens fingers to release the properly positioned brick onto the supporting surface."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves upward away from the released small blue lego brick, retreating from the brick's position with an empty hand."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves toward the small green lego brick on the dark gray work surface with open fingers, approaching the target brick."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes its fingers around the small green lego brick, making small finger adjustments to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the small green lego brick fully off the work surface and moves it horizontally toward the longer green lego brick positioned to the right."}, {"label": "subtasks", "start_step": 698, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the small green lego brick onto the upper surface of the longer green lego brick, making small positional adjustments to align the small brick."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the small green lego brick, breaking contact with the brick as it tips over onto the work surface."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves with open fingers toward the tipped small green lego brick on the work surface, approaching the fallen brick."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:nudge_brick: Right hand uses extended fingers to nudge the tipped small green lego brick, adjusting its orientation to set it upright on the work surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1071, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: idle: Right hand remains empty above the work surface near the upright small green lego brick without any visible movement."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes its fingers around the upright small green lego brick, adjusting finger positions to establish a stable grip on the brick."}, {"label": "subtasks", "start_step": 1118, "end_step": 1199, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the small green lego brick fully off the work surface and moves it horizontally toward the longer green lego brick below."}, {"label": "subtasks", "start_step": 1200, "end_step": 1341, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the small green lego brick onto the upper surface of the longer green lego brick, making small alignment adjustments and applying gentle pressure to seat the brick."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the stacked small green lego brick, fully separating from contact with the brick."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves away from the stacked lego bricks while empty, retreating from the operation position."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach_grasp: Right hand moves toward the small upright blue lego brick resting on the dark gray table surface, adjusting finger positions to close around the brick and form a stable grasp."}, {"label": "subtasks", "start_step": 1485, "end_step": 1709, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: push: Right hand maintains contact with the grasped small blue lego brick, pushing the brick leftward across the dark table surface until it rests adjacent to the stacked green lego bricks."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the held small blue lego brick, lifting the digits slightly away from the sides of the brick."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: press_retreat: Right hand moves its index finger down to apply downward pressure on the top surface of the small blue lego brick, lifting the finger away from the brick as pressure is completed."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves rightward while empty to approach the small orange lego brick on the dark gray flat surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes fingers around the small orange lego brick, adjusting finger positions to establish a stable grip on the brick resting on the surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 2519, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:repeatedly_flip_lego: Right hand grips the small orange lego brick, repeatedly lifting it slightly off the dark gray surface, rotating it around multiple axes to change its facing direction, and placing it back onto the surface, with continuous small adjustments of fingers and wrist throughout the process."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the small orange lego brick resting on the dark work surface, with the brick remaining on the surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2579, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the grasped orange lego brick clear of the dark surface and moves it horizontally leftward to position it directly over the existing stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 2580, "end_step": 2774, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the orange lego brick onto the top of the stacked green and blue bricks, makes small positional adjustments to align the brick and applies downward pressure to seat it properly."}, {"label": "subtasks", "start_step": 2775, "end_step": 2804, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release_retreat: Right hand opens its fingers to release the seated orange lego brick, then moves upward and rightward away from the lego stack with an empty hand."}, {"label": "subtasks", "start_step": 2805, "end_step": 2863, "id": "reasoning-language-00037", "text": "Left hand: retreat: Left hand remains empty, moves upward and backward away from the stacked lego bricks on the dark table surface, with fingers gradually closing during movement. | Right hand: retreat: Right hand remains empty, moves upward and backward away from the stacked lego bricks on the dark table surface, with fingers gradually adjusting posture during movement."}], "episode_index": 27}
+{"source_uid": "ed04f75c39cf98cf", "num_frames": 2594, "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": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward to the upper left area of the table while remaining empty. | Right hand: reach: Right hand moves downward toward the blue block on the table while remaining empty."}, {"label": "valid", "start_step": 0, "end_step": 2549, "id": "VCorts9c1PpHclVwdt4c_"}, {"label": "subtasks", "start_step": 90, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the small green block on the black table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small green block."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the small green block on the table without any movement."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport_place: Right hand transports the small green block to the side of the larger green block and places it on the table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the larger green block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the larger green block slightly to a new position on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_retreat: Right hand releases the larger green block and moves away from the operation position."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the blue block on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue block on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the blue block still above the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the grasped blue block towards the green block on the table."}, {"label": "subtasks", "start_step": 645, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand places the blue block onto the top of the green block and adjusts to assemble them together."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the blue block on top of the yellow base block by opening its fingers."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the blue block on the yellow base block on the table."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press_retreat: Right hand presses the blue block onto the yellow base block, then moves away from the block."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed on the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 1041, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the orange block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1334, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand carries the orange block and moves it toward the combined blue-green block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top of the blue-green block and presses to complete assembly."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand opens its fingers to release the orange block."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: retreat: Right hand moves slightly backward away from the assembled blocks."}, {"label": "subtasks", "start_step": 1455, "end_step": 1694, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the orange block on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: push: Right hand pushes the orange block towards the green and blue blocks on the table."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the orange block on the table near the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1830, "end_step": 1927, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, making slight grip adjustments."}, {"label": "subtasks", "start_step": 1928, "end_step": 2009, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table and moves it to the right side of the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2077, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the orange block onto the right area of the table and releases its grip on the block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the orange block placed on the right area of the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2211, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the orange block and adjusts its position slightly on the table."}, {"label": "subtasks", "start_step": 2212, "end_step": 2294, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand holds the orange block and moves it towards the stacked green and blue blocks on the left."}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand holds the orange block and moves it towards the stacked blue and green blocks."}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand lowers the orange block onto the top surface of the green block."}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand adjusts the orange block to align with the green block for assembly."}, {"label": "subtasks", "start_step": 2460, "end_step": 2519, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the orange block downwards to secure it onto the stacked blocks."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00036", "text": "Left hand: retreat: Left hand moves backward to the left side of the table without holding any object. | Right hand: retreat: Right hand moves backward to the right side of the table without holding any object."}, {"label": "home", "start_step": 2550, "end_step": 2593, "id": "oiXmeVPHSczzA6U1ABOVC"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward to the upper left area of the table while remaining empty. | Right hand: reach: Right hand moves downward toward the blue block on the table while remaining empty."}, {"label": "subtasks", "start_step": 90, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the small green block on the black table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small green block."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the small green block on the table without any movement."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport_place: Right hand transports the small green block to the side of the larger green block and places it on the table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the larger green block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the larger green block slightly to a new position on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_retreat: Right hand releases the larger green block and moves away from the operation position."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the blue block on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue block on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the blue block still above the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the grasped blue block towards the green block on the table."}, {"label": "subtasks", "start_step": 645, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand places the blue block onto the top of the green block and adjusts to assemble them together."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the blue block on top of the yellow base block by opening its fingers."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the blue block on the yellow base block on the table."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press_retreat: Right hand presses the blue block onto the yellow base block, then moves away from the block."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed on the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 1041, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the orange block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1334, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand carries the orange block and moves it toward the combined blue-green block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top of the blue-green block and presses to complete assembly."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand opens its fingers to release the orange block."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: retreat: Right hand moves slightly backward away from the assembled blocks."}, {"label": "subtasks", "start_step": 1455, "end_step": 1694, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the orange block on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: push: Right hand pushes the orange block towards the green and blue blocks on the table."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the orange block on the table near the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1830, "end_step": 1927, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, making slight grip adjustments."}, {"label": "subtasks", "start_step": 1928, "end_step": 2009, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table and moves it to the right side of the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2077, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the orange block onto the right area of the table and releases its grip on the block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the orange block placed on the right area of the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2211, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the orange block and adjusts its position slightly on the table."}, {"label": "subtasks", "start_step": 2212, "end_step": 2294, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand holds the orange block and moves it towards the stacked green and blue blocks on the left."}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand holds the orange block and moves it towards the stacked blue and green blocks."}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand lowers the orange block onto the top surface of the green block."}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand adjusts the orange block to align with the green block for assembly."}, {"label": "subtasks", "start_step": 2460, "end_step": 2519, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the orange block downwards to secure it onto the stacked blocks."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00036", "text": "Left hand: retreat: Left hand moves backward to the left side of the table without holding any object. | Right hand: retreat: Right hand moves backward to the right side of the table without holding any object."}], "episode_index": 28}
+{"source_uid": "965ce1ccedbdf074", "num_frames": 2314, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects, fingers held in a slightly extended posture during the movement. | Right hand: other:move_upward: Right hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects."}, {"label": "valid", "start_step": 0, "end_step": 2267, "id": "Xtb7j4-omYCdgvogXClgY"}, {"label": "subtasks", "start_step": 60, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: other:move_upward: Left hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects, fingers held in a slightly extended posture during the movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the black table surface, remaining empty with fingers slightly adjusting as it approaches the target."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves downward toward the small green lego brick on the black table surface, remaining empty with fingers slightly adjusting as it approaches the target."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand moves slightly toward the small green 1x1 Lego brick and closes fingers to form a grasp on the brick resting on the dark surface."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about half a turn horizontally, keeping the brick in contact with the dark surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick, which stays resting on the dark surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: retreat: Right hand lifts slightly and moves a short distance backward away from the released Lego brick, remaining empty."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves downward toward the small green 1x1 Lego brick on the dark surface, approaching to re-grasp."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers to firmly grasp the small green 1x1 Lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about a quarter turn, maintaining contact with the dark surface."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick onto the dark surface."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves a short distance toward the repositioned small green 1x1 Lego brick, staying close to the dark surface."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to grasp the small green 1x1 Lego brick, making small adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about an eighth of a turn, shifting its position slightly on the dark surface."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand presses a finger against the top surface of the small green 1x1 Lego brick, applying downward force perpendicular to the dark surface."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand repositions fingers and closes them to firmly grasp the small green 1x1 Lego brick on the dark surface."}, {"label": "subtasks", "start_step": 562, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about half a turn, flipping the brick to show its studded side while keeping it near the dark surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick, which rests on the dark surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves toward the small green 1x1 Lego brick on the dark surface, positioning to re-grasp the brick."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers to grasp the small green 1x1 Lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about a quarter turn, adjusting its position slightly on the dark surface."}, {"label": "subtasks", "start_step": 802, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand repeatedly taps the top surface of the small green 1x1 Lego brick with a finger, applying light downward force perpendicular to the dark surface."}, {"label": "subtasks", "start_step": 862, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers around the small green 1x1 Lego brick, adjusting grip to prepare for lifting."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift: Right hand lifts the grasped small green 1x1 Lego brick upward, fully separating it from the dark supporting surface."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand grips the small green 1x1 Lego brick, lifts it off the dark work surface, and moves it downward to the position above the larger green Lego brick."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: place: Right hand lowers the small green 1x1 Lego brick until it rests on the surface of the larger green Lego brick."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: hold: Right hand holds the small green 1x1 Lego brick as it rests on the larger green Lego brick, with no visible movement of the hand or brick."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: mate: Right hand adjusts the position of the small green 1x1 Lego brick, aligning it with the connection studs on the larger green Lego brick to fit the two bricks together."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: hold: Right hand remains stationary on the assembled small green 1x1 Lego brick, holding it in place on the larger green Lego brick."}, {"label": "subtasks", "start_step": 1185, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the blue 1x1 lego brick on the dark work surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1275, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand lifts the grasped blue 1x1 lego brick off the dark surface and moves it leftward and downward toward the adjacent green lego brick."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: place: Right hand lowers the blue 1x1 lego brick onto the top surface of the green lego brick until the blue brick is fully supported by the green brick."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens its fingers to release the blue 1x1 lego brick positioned on the green lego brick, separating fingers from the brick surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1477, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand repeatedly presses and taps the small orange block stacked on the blue-green building block until the block detaches and falls onto the dark table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves with empty fingers toward the small orange block that has fallen onto the dark table surface."}, {"label": "subtasks", "start_step": 1508, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient_release: Right hand grips the small orange block on the table, rotates it to adjust its orientation, and releases the block as it tips over onto the table."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: idle: Right hand stays empty and stationary above the orange block without making contact with any objects."}, {"label": "subtasks", "start_step": 1650, "end_step": 1761, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient_release: Right hand moves down to contact the orange block, rotates and shifts the block slightly to adjust its position and orientation, and releases contact with the block."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves with empty fingers back toward the orange block on the table to approach it for further adjustment."}, {"label": "subtasks", "start_step": 1800, "end_step": 1994, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand grips the orange block, repeatedly rotates the block and adjusts its grip with small finger and wrist movements to modify the block's orientation."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release_retreat: Right hand releases its grip on the orange block and moves a short distance backward away from the block with empty fingers before coming to a stop."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand moves back to contact the orange block, making small rotational and positional adjustments to the block with slight finger and wrist movements."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers around the orange 1x1 lego brick resting on the dark gray table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand lifts the grasped orange 1x1 lego brick off the dark gray table surface and moves it leftward to position directly above the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 2160, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: mate_release: Right hand makes slight positional and rotational adjustments to the grasped orange 1x1 lego brick to align it with the top surface of the blue lego brick, opens fingers to release the brick once it is stably supported by the blue lego brick."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: retreat: Right hand moves empty upward and rightward away from the stacked lego bricks."}, {"label": "subtasks", "start_step": 2265, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: return_home: Left hand moves backward empty toward its initial resting position, with fingers gradually adjusting from an extended pointing posture to a relaxed closed posture during movement. | Right hand: return_home: Right hand moves backward empty toward its initial resting position, with fingers gradually adjusting from an extended pointing posture to a relaxed closed posture during movement."}, {"label": "home", "start_step": 2268, "end_step": 2313, "id": "90NcRpTIHqS8IctVuIFKL"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects, fingers held in a slightly extended posture during the movement. | Right hand: other:move_upward: Right hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects."}, {"label": "subtasks", "start_step": 60, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: other:move_upward: Left hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects, fingers held in a slightly extended posture during the movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the black table surface, remaining empty with fingers slightly adjusting as it approaches the target."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves downward toward the small green lego brick on the black table surface, remaining empty with fingers slightly adjusting as it approaches the target."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand moves slightly toward the small green 1x1 Lego brick and closes fingers to form a grasp on the brick resting on the dark surface."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about half a turn horizontally, keeping the brick in contact with the dark surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick, which stays resting on the dark surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: retreat: Right hand lifts slightly and moves a short distance backward away from the released Lego brick, remaining empty."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves downward toward the small green 1x1 Lego brick on the dark surface, approaching to re-grasp."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers to firmly grasp the small green 1x1 Lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about a quarter turn, maintaining contact with the dark surface."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick onto the dark surface."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves a short distance toward the repositioned small green 1x1 Lego brick, staying close to the dark surface."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to grasp the small green 1x1 Lego brick, making small adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about an eighth of a turn, shifting its position slightly on the dark surface."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand presses a finger against the top surface of the small green 1x1 Lego brick, applying downward force perpendicular to the dark surface."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand repositions fingers and closes them to firmly grasp the small green 1x1 Lego brick on the dark surface."}, {"label": "subtasks", "start_step": 562, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about half a turn, flipping the brick to show its studded side while keeping it near the dark surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick, which rests on the dark surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves toward the small green 1x1 Lego brick on the dark surface, positioning to re-grasp the brick."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers to grasp the small green 1x1 Lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about a quarter turn, adjusting its position slightly on the dark surface."}, {"label": "subtasks", "start_step": 802, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand repeatedly taps the top surface of the small green 1x1 Lego brick with a finger, applying light downward force perpendicular to the dark surface."}, {"label": "subtasks", "start_step": 862, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers around the small green 1x1 Lego brick, adjusting grip to prepare for lifting."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift: Right hand lifts the grasped small green 1x1 Lego brick upward, fully separating it from the dark supporting surface."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand grips the small green 1x1 Lego brick, lifts it off the dark work surface, and moves it downward to the position above the larger green Lego brick."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: place: Right hand lowers the small green 1x1 Lego brick until it rests on the surface of the larger green Lego brick."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: hold: Right hand holds the small green 1x1 Lego brick as it rests on the larger green Lego brick, with no visible movement of the hand or brick."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: mate: Right hand adjusts the position of the small green 1x1 Lego brick, aligning it with the connection studs on the larger green Lego brick to fit the two bricks together."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: hold: Right hand remains stationary on the assembled small green 1x1 Lego brick, holding it in place on the larger green Lego brick."}, {"label": "subtasks", "start_step": 1185, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the blue 1x1 lego brick on the dark work surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1275, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand lifts the grasped blue 1x1 lego brick off the dark surface and moves it leftward and downward toward the adjacent green lego brick."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: place: Right hand lowers the blue 1x1 lego brick onto the top surface of the green lego brick until the blue brick is fully supported by the green brick."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens its fingers to release the blue 1x1 lego brick positioned on the green lego brick, separating fingers from the brick surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1477, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand repeatedly presses and taps the small orange block stacked on the blue-green building block until the block detaches and falls onto the dark table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves with empty fingers toward the small orange block that has fallen onto the dark table surface."}, {"label": "subtasks", "start_step": 1508, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient_release: Right hand grips the small orange block on the table, rotates it to adjust its orientation, and releases the block as it tips over onto the table."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: idle: Right hand stays empty and stationary above the orange block without making contact with any objects."}, {"label": "subtasks", "start_step": 1650, "end_step": 1761, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient_release: Right hand moves down to contact the orange block, rotates and shifts the block slightly to adjust its position and orientation, and releases contact with the block."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves with empty fingers back toward the orange block on the table to approach it for further adjustment."}, {"label": "subtasks", "start_step": 1800, "end_step": 1994, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand grips the orange block, repeatedly rotates the block and adjusts its grip with small finger and wrist movements to modify the block's orientation."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release_retreat: Right hand releases its grip on the orange block and moves a short distance backward away from the block with empty fingers before coming to a stop."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand moves back to contact the orange block, making small rotational and positional adjustments to the block with slight finger and wrist movements."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers around the orange 1x1 lego brick resting on the dark gray table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand lifts the grasped orange 1x1 lego brick off the dark gray table surface and moves it leftward to position directly above the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 2160, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: mate_release: Right hand makes slight positional and rotational adjustments to the grasped orange 1x1 lego brick to align it with the top surface of the blue lego brick, opens fingers to release the brick once it is stably supported by the blue lego brick."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: retreat: Right hand moves empty upward and rightward away from the stacked lego bricks."}, {"label": "subtasks", "start_step": 2265, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: return_home: Left hand moves backward empty toward its initial resting position, with fingers gradually adjusting from an extended pointing posture to a relaxed closed posture during movement. | Right hand: return_home: Right hand moves backward empty toward its initial resting position, with fingers gradually adjusting from an extended pointing posture to a relaxed closed posture during movement."}], "episode_index": 29}
+{"source_uid": "492420e95d172c30", "num_frames": 2068, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and slightly rightward to the upper left area above the black table with fingers open. | Right hand: reach: Right hand moves upward and slightly leftward above the black table with fingers open."}, {"label": "valid", "start_step": 0, "end_step": 2021, "id": "v2RxT2GpfP6TTxjSuXNTq"}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves upward and slightly leftward above the black table with fingers open."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves left to approach the small green cube on the table."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small green cube on the table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 218, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: hold: Right hand holds the small green cube on the table without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand grasps the green block on the table with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reorient: Right hand reorients the green block on the table with slight rotation, position remains mostly unchanged."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and transports it leftward."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: place_release: Right hand places the small green block on the table and releases it."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves toward the small green block on the table with fingers open."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand grasps the small green block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 622, "end_step": 2009, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: hold: Right hand holds the small green block on the table without moving."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00014", "text": "Left hand: return_home: Left hand moves downward and back to the initial left position beside the table. | Right hand: retreat: Right hand moves upward and rightward away from the stacked building blocks on the table."}, {"label": "home", "start_step": 2022, "end_step": 2067, "id": "A_KghZ0uU4d3N75TlsdT9"}, {"label": "subtasks", "start_step": 2048, "end_step": 2054, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the initial left position beside the table without moving. | Right hand: retreat: Right hand moves upward and rightward away from the stacked building blocks on the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2067, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the initial left position beside the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and slightly rightward to the upper left area above the black table with fingers open. | Right hand: reach: Right hand moves upward and slightly leftward above the black table with fingers open."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves upward and slightly leftward above the black table with fingers open."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves left to approach the small green cube on the table."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small green cube on the table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 218, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: hold: Right hand holds the small green cube on the table without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand grasps the green block on the table with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reorient: Right hand reorients the green block on the table with slight rotation, position remains mostly unchanged."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and transports it leftward."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: place_release: Right hand places the small green block on the table and releases it."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves toward the small green block on the table with fingers open."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand grasps the small green block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 622, "end_step": 2009, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: hold: Right hand holds the small green block on the table without moving."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00014", "text": "Left hand: return_home: Left hand moves downward and back to the initial left position beside the table. | Right hand: retreat: Right hand moves upward and rightward away from the stacked building blocks on the table."}, {"label": "subtasks", "start_step": 2048, "end_step": 2054, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the initial left position beside the table without moving. | Right hand: retreat: Right hand moves upward and rightward away from the stacked building blocks on the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2067, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the initial left position beside the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}], "episode_index": 30}
+{"source_uid": "f33968c5aac75771", "num_frames": 2223, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward to the left upper area of the table with fingers open, no object is contacted. | Right hand: reach_grasp: Right hand moves forward and downward toward the small green building block on the table, then makes contact with the block to initiate grasping."}, {"label": "valid", "start_step": 0, "end_step": 2179, "id": "4zbDY8zwBtBSiH_GxfUAJ"}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach_grasp: Right hand moves forward and downward toward the small green building block on the table, then makes contact with the block to initiate grasping."}, {"label": "subtasks", "start_step": 120, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts its fingers to grasp the small green building block on the black surface."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: transport: Right hand transports the grasped small green building block downward toward the larger flat green building block on the table."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: place: Right hand places the small green building block onto the larger flat green building block on the table."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand adjusts the small green building block to align with the larger flat green building block underneath."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the small green building block by opening its fingers."}, {"label": "subtasks", "start_step": 405, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts fingers to grasp the green building block on the table."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the blue building block on the table with fingers open."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers to grasp the blue building block on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes its fingers to grasp the blue building block placed on the grey surface."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the blue building block off the grey surface and transports it downward toward the green building block."}, {"label": "subtasks", "start_step": 638, "end_step": 801, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand aligns the blue building block with the green building block and presses to assemble them together."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand opens its fingers to release the blue building block and moves slightly away."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the orange building block on the table with fingers open."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers around the orange building block on the table and adjusts to form stable grip."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the orange building block from the table and transports it toward the stacked green and blue building blocks."}, {"label": "subtasks", "start_step": 975, "end_step": 1057, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers to grasp the orange building block on the gray table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift: Right hand lifts the grasped orange building block upwards from the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the orange building block as it slips from the grasp, the block falls back to the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the orange building block on the dark table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1297, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers around the orange building block, making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand opens fingers to release the orange building block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1447, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts its fingers to grasp the orange building block on the table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the grasped orange building block and moves it toward the blue building block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1581, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand aligns the orange building block with the blue building block to attempt assembly."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the orange building block and moves slightly away from the blocks."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00028", "text": "Left hand: other:slight_lift_move: Left hand lifts slightly and moves at the left side of the operation area without contacting any operating objects. | Right hand: reach: Right hand moves towards the orange building block on the black tabletop."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves towards the orange building block on the black tabletop."}, {"label": "subtasks", "start_step": 1695, "end_step": 1859, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers and adjusts contact position to grasp the orange building block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: hold: Right hand holds the orange building block stably without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts fingers to grasp the orange building block on the table."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the grasped orange building block downward to the position above the blue building block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the orange building block onto the top of the blue building block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the orange building block to fit it firmly with the blue building block."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00036", "text": "Left hand: return_home: Left hand moves empty back to its initial home position on the left side of the workspace. | Right hand: return_home: Right hand moves empty back to its initial home position on the right side of the workspace."}, {"label": "home", "start_step": 2180, "end_step": 2222, "id": "M1itCT-icucElsK4Ixjxs"}, {"label": "subtasks", "start_step": 2205, "end_step": 2211, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at its left home position. | Right hand: return_home: Right hand moves empty back to its initial home position on the right side of the workspace."}, {"label": "subtasks", "start_step": 2212, "end_step": 2222, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at its left home position. | Right hand: idle: Right hand remains empty and stationary at its right home position."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward to the left upper area of the table with fingers open, no object is contacted. | Right hand: reach_grasp: Right hand moves forward and downward toward the small green building block on the table, then makes contact with the block to initiate grasping."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach_grasp: Right hand moves forward and downward toward the small green building block on the table, then makes contact with the block to initiate grasping."}, {"label": "subtasks", "start_step": 120, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts its fingers to grasp the small green building block on the black surface."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: transport: Right hand transports the grasped small green building block downward toward the larger flat green building block on the table."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: place: Right hand places the small green building block onto the larger flat green building block on the table."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand adjusts the small green building block to align with the larger flat green building block underneath."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the small green building block by opening its fingers."}, {"label": "subtasks", "start_step": 405, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts fingers to grasp the green building block on the table."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the blue building block on the table with fingers open."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers to grasp the blue building block on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes its fingers to grasp the blue building block placed on the grey surface."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the blue building block off the grey surface and transports it downward toward the green building block."}, {"label": "subtasks", "start_step": 638, "end_step": 801, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand aligns the blue building block with the green building block and presses to assemble them together."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand opens its fingers to release the blue building block and moves slightly away."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the orange building block on the table with fingers open."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers around the orange building block on the table and adjusts to form stable grip."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the orange building block from the table and transports it toward the stacked green and blue building blocks."}, {"label": "subtasks", "start_step": 975, "end_step": 1057, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers to grasp the orange building block on the gray table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift: Right hand lifts the grasped orange building block upwards from the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the orange building block as it slips from the grasp, the block falls back to the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the orange building block on the dark table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1297, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers around the orange building block, making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand opens fingers to release the orange building block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1447, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts its fingers to grasp the orange building block on the table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the grasped orange building block and moves it toward the blue building block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1581, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand aligns the orange building block with the blue building block to attempt assembly."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the orange building block and moves slightly away from the blocks."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00028", "text": "Left hand: other:slight_lift_move: Left hand lifts slightly and moves at the left side of the operation area without contacting any operating objects. | Right hand: reach: Right hand moves towards the orange building block on the black tabletop."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves towards the orange building block on the black tabletop."}, {"label": "subtasks", "start_step": 1695, "end_step": 1859, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers and adjusts contact position to grasp the orange building block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: hold: Right hand holds the orange building block stably without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts fingers to grasp the orange building block on the table."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the grasped orange building block downward to the position above the blue building block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the orange building block onto the top of the blue building block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the orange building block to fit it firmly with the blue building block."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00036", "text": "Left hand: return_home: Left hand moves empty back to its initial home position on the left side of the workspace. | Right hand: return_home: Right hand moves empty back to its initial home position on the right side of the workspace."}, {"label": "subtasks", "start_step": 2205, "end_step": 2211, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at its left home position. | Right hand: return_home: Right hand moves empty back to its initial home position on the right side of the workspace."}, {"label": "subtasks", "start_step": 2212, "end_step": 2222, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at its left home position. | Right hand: idle: Right hand remains empty and stationary at its right home position."}], "episode_index": 31}
+{"source_uid": "0e6a66fc9a421f49", "num_frames": 1398, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:reposition_and_open_fingers: Left hand repositions from its initial neutral upright pose, rotates the wrist slightly upward, and opens its fingers from a closed to a spread posture while moving to a stable raised position on the left. | Right hand: reach: Right hand repositions from its initial neutral upright pose, moves downward toward the scattered building blocks on the black table surface, rotates the wrist slightly inward, and opens its fingers as it approaches the blocks."}, {"label": "valid", "start_step": 0, "end_step": 1355, "id": "Qr2DKFo9qIrEvrDMc42si"}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand repositions from its initial neutral upright pose, moves downward toward the scattered building blocks on the black table surface, rotates the wrist slightly inward, and opens its fingers as it approaches the blocks."}, {"label": "subtasks", "start_step": 90, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its fingers around the small green 2x2 building block, makes small positional adjustments to align the fingers before closing them to form a stable grip on the block, which remains on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped small green 2x2 block upward until the block is completely raised off the table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted small green 2x2 block through the air, moving it downward and to the right toward the large green 2x4 building block on the table."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the small green 2x2 block onto the upper surface of the large green 2x4 block until the small block is stably supported by the large block."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: hold: Right hand maintains contact with the small green 2x2 block placed on the large green block, with no observable movement of the hand, fingers, or blocks."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts finger contact points on the small green brick, slightly moving and rotating the brick to adjust its position on the long green brick."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand releases the small green brick, fingers moving away from the brick surface to break contact."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the blue 2x2 lego brick on the dark flat surface with fingers held in an open posture."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand curls fingers around the blue 2x2 lego brick, making slight finger adjustments to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the stably grasped blue 2x2 lego brick upward until the brick is completely separated from the dark supporting surface."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the grasped blue 2x2 lego brick, moving it horizontally toward the nearby green lego bricks on the surface."}, {"label": "subtasks", "start_step": 525, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand contacts the blue brick near the green brick on the table, adjusting fingers and wrist position to form a stable grasp while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped blue brick completely off the table surface, moving it horizontally rightward across the table toward the area next to the orange brick."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the grasped blue brick down to the table surface, setting it stably on the right section of the table adjacent to the orange brick."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the blue brick on the dark gray surface with fingers held open."}, {"label": "subtasks", "start_step": 788, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts finger placement around the blue brick, slightly closing and repositioning fingers to form a grip on the brick."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its fingers around the blue brick resting on the dark work surface to form a stable grip."}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand moves the stably grasped blue brick leftward across the dark work surface toward the green brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand sets the blue brick into a stable supported position on the dark work surface adjacent to the green brick."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the blue brick, breaking contact with the brick surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the 2x2 orange lego brick placed on the dark table surface, with fingers held in a slightly open posture as it approaches the target brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand curls its fingers around the 2x2 orange lego brick, making small adjustments to finger contact positions to establish a grip on the brick that remains resting on the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand firmly holds the orange brick and moves it down-left toward the stacked green and blue bricks on the dark table surface, keeping the brick in the air."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the orange brick to place it onto the top of the stacked green and blue bricks, until the brick is fully supported by the stack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand gradually opens all fingers to release the orange brick, slowly separating the fingers from the brick surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: press: Right hand moves the index finger vertically downward to press the top surface of the placed orange brick, applying downward pressure."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: retreat: Right hand moves empty upward and rightward to retreat from the position of the stacked bricks."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward and outward empty-handed away from the colorful block stack at the center of the table, with fingers gradually adjusting to point upward, until it stops at its initial left resting position. | Right hand: return_home: Right hand moves upward and outward empty-handed away from the colorful block stack at the center of the table, with fingers gradually adjusting to point upward, until it stops at its initial right resting position."}, {"label": "home", "start_step": 1356, "end_step": 1397, "id": "xxept7xGef__RhHS1mumx"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:reposition_and_open_fingers: Left hand repositions from its initial neutral upright pose, rotates the wrist slightly upward, and opens its fingers from a closed to a spread posture while moving to a stable raised position on the left. | Right hand: reach: Right hand repositions from its initial neutral upright pose, moves downward toward the scattered building blocks on the black table surface, rotates the wrist slightly inward, and opens its fingers as it approaches the blocks."}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand repositions from its initial neutral upright pose, moves downward toward the scattered building blocks on the black table surface, rotates the wrist slightly inward, and opens its fingers as it approaches the blocks."}, {"label": "subtasks", "start_step": 90, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its fingers around the small green 2x2 building block, makes small positional adjustments to align the fingers before closing them to form a stable grip on the block, which remains on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped small green 2x2 block upward until the block is completely raised off the table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted small green 2x2 block through the air, moving it downward and to the right toward the large green 2x4 building block on the table."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the small green 2x2 block onto the upper surface of the large green 2x4 block until the small block is stably supported by the large block."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: hold: Right hand maintains contact with the small green 2x2 block placed on the large green block, with no observable movement of the hand, fingers, or blocks."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts finger contact points on the small green brick, slightly moving and rotating the brick to adjust its position on the long green brick."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand releases the small green brick, fingers moving away from the brick surface to break contact."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the blue 2x2 lego brick on the dark flat surface with fingers held in an open posture."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand curls fingers around the blue 2x2 lego brick, making slight finger adjustments to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the stably grasped blue 2x2 lego brick upward until the brick is completely separated from the dark supporting surface."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the grasped blue 2x2 lego brick, moving it horizontally toward the nearby green lego bricks on the surface."}, {"label": "subtasks", "start_step": 525, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand contacts the blue brick near the green brick on the table, adjusting fingers and wrist position to form a stable grasp while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped blue brick completely off the table surface, moving it horizontally rightward across the table toward the area next to the orange brick."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the grasped blue brick down to the table surface, setting it stably on the right section of the table adjacent to the orange brick."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the blue brick on the dark gray surface with fingers held open."}, {"label": "subtasks", "start_step": 788, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts finger placement around the blue brick, slightly closing and repositioning fingers to form a grip on the brick."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its fingers around the blue brick resting on the dark work surface to form a stable grip."}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand moves the stably grasped blue brick leftward across the dark work surface toward the green brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand sets the blue brick into a stable supported position on the dark work surface adjacent to the green brick."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the blue brick, breaking contact with the brick surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the 2x2 orange lego brick placed on the dark table surface, with fingers held in a slightly open posture as it approaches the target brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand curls its fingers around the 2x2 orange lego brick, making small adjustments to finger contact positions to establish a grip on the brick that remains resting on the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand firmly holds the orange brick and moves it down-left toward the stacked green and blue bricks on the dark table surface, keeping the brick in the air."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the orange brick to place it onto the top of the stacked green and blue bricks, until the brick is fully supported by the stack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand gradually opens all fingers to release the orange brick, slowly separating the fingers from the brick surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: press: Right hand moves the index finger vertically downward to press the top surface of the placed orange brick, applying downward pressure."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: retreat: Right hand moves empty upward and rightward to retreat from the position of the stacked bricks."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward and outward empty-handed away from the colorful block stack at the center of the table, with fingers gradually adjusting to point upward, until it stops at its initial left resting position. | Right hand: return_home: Right hand moves upward and outward empty-handed away from the colorful block stack at the center of the table, with fingers gradually adjusting to point upward, until it stops at its initial right resting position."}], "episode_index": 32}
+{"source_uid": "eef4eb1d4beb081b", "num_frames": 1811, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: idle: Right hand remains empty at the right upper initial position without active movement."}, {"label": "valid", "start_step": 0, "end_step": 1771, "id": "86Cs0HgUBlUmCmyrBEPSG"}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the small light green lego block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand contacts the small light green lego block on the black table, fingers close and adjust position to establish a grasp on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves toward the small flat lego brick on the dark gray work surface, with fingers slightly extended, approaching the brick without stable contact."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the edge of the flat lego brick, adjusting finger contact to establish initial grip on the brick resting on the surface."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: hold: Right hand holds the edge of the flat lego brick on the dark gray surface without any observable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and wrist angle slightly on the lego brick, repositioning contact points to secure a stable grip for moving the brick."}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reorient: Right hand grips the lego brick, lifts it slightly off the surface, rotates it about 90 degrees to adjust it to an upright orientation while keeping it in roughly the same horizontal position."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: place: Right hand lowers the rotated lego brick down to the dark gray surface, setting the brick to rest stably in an upright position on the surface."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release_retreat: Right hand opens fingers to release the upright lego brick supported on the surface, moving slightly upward away from the brick with an empty hand."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves left toward the upright small light green lego brick with open fingers, not yet making contact with the brick."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the upright small light green lego brick, making slight grip adjustments while the brick stays on the dark gray supporting surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the small light green lego brick fully off the dark gray surface and moves it rightward to the position directly above the large light green lego brick, rotating the brick to a flat orientation during movement."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: place: Right hand lowers the small light green lego brick onto the top surface of the large light green lego brick until the small brick is stably supported by the larger brick."}, {"label": "subtasks", "start_step": 540, "end_step": 937, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger contact points and grip on the small light green brick on the larger light green plate, slightly shifting the brick closer to the blue block via small wrist movements."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: hold: Right hand holds the small light green brick steady in its adjusted position on the larger plate without movement."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release: Right hand opens fingers and lifts upward, releasing contact with the small light green brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves left toward the dark blue lego brick placed on the dark gray work surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions around the dark blue lego brick, closing fingers to establish and stabilize contact with the brick which remains on the work surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand makes subtle finger and wrist adjustments to establish a stable grasp on the dark blue lego brick placed on the dark table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: lift: Right hand lifts the stably grasped dark blue lego brick vertically upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1237, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: transport: Right hand transports the lifted dark blue lego brick rightward through the air to the position directly above the light green lego brick."}, {"label": "subtasks", "start_step": 1238, "end_step": 1424, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: mate: Right hand aligns the dark blue lego brick with the connection points on the light green lego brick, lowers and presses the dark blue brick to attach it to the light green brick."}, {"label": "subtasks", "start_step": 1425, "end_step": 1559, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach_press: Right hand moves toward the top surface of the dark blue brick stacked on the light green brick, contacts the surface and exerts vertical downward force to press the brick."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: retreat: Right hand moves upward and away from the stacked bricks, retreating from the pressing position with empty fingers."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves leftward toward the small orange lego brick on the dark table surface, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 1598, "end_step": 1701, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the small orange lego brick, adjusting finger positions slightly to attempt closing around the brick."}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the small orange lego brick, which falls downward away from the hand."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: idle: Right hand remains empty above the original position of the orange lego brick without any visible movement."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand remains empty, moves upward and rotates slightly to return to the forward-facing initial home position, with fingers gradually adjusting to a relaxed aligned posture. | Right hand: return_home: Right hand remains empty, moves upward and rotates slightly to return to the forward-facing initial home position, with fingers gradually extending and adjusting to a relaxed aligned posture."}, {"label": "home", "start_step": 1772, "end_step": 1810, "id": "O8KlLxdZwPgg4izwzeaBi"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: idle: Right hand remains empty at the right upper initial position without active movement."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the small light green lego block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand contacts the small light green lego block on the black table, fingers close and adjust position to establish a grasp on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves toward the small flat lego brick on the dark gray work surface, with fingers slightly extended, approaching the brick without stable contact."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the edge of the flat lego brick, adjusting finger contact to establish initial grip on the brick resting on the surface."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: hold: Right hand holds the edge of the flat lego brick on the dark gray surface without any observable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and wrist angle slightly on the lego brick, repositioning contact points to secure a stable grip for moving the brick."}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reorient: Right hand grips the lego brick, lifts it slightly off the surface, rotates it about 90 degrees to adjust it to an upright orientation while keeping it in roughly the same horizontal position."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: place: Right hand lowers the rotated lego brick down to the dark gray surface, setting the brick to rest stably in an upright position on the surface."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release_retreat: Right hand opens fingers to release the upright lego brick supported on the surface, moving slightly upward away from the brick with an empty hand."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves left toward the upright small light green lego brick with open fingers, not yet making contact with the brick."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the upright small light green lego brick, making slight grip adjustments while the brick stays on the dark gray supporting surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the small light green lego brick fully off the dark gray surface and moves it rightward to the position directly above the large light green lego brick, rotating the brick to a flat orientation during movement."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: place: Right hand lowers the small light green lego brick onto the top surface of the large light green lego brick until the small brick is stably supported by the larger brick."}, {"label": "subtasks", "start_step": 540, "end_step": 937, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger contact points and grip on the small light green brick on the larger light green plate, slightly shifting the brick closer to the blue block via small wrist movements."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: hold: Right hand holds the small light green brick steady in its adjusted position on the larger plate without movement."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release: Right hand opens fingers and lifts upward, releasing contact with the small light green brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves left toward the dark blue lego brick placed on the dark gray work surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions around the dark blue lego brick, closing fingers to establish and stabilize contact with the brick which remains on the work surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand makes subtle finger and wrist adjustments to establish a stable grasp on the dark blue lego brick placed on the dark table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: lift: Right hand lifts the stably grasped dark blue lego brick vertically upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1237, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: transport: Right hand transports the lifted dark blue lego brick rightward through the air to the position directly above the light green lego brick."}, {"label": "subtasks", "start_step": 1238, "end_step": 1424, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: mate: Right hand aligns the dark blue lego brick with the connection points on the light green lego brick, lowers and presses the dark blue brick to attach it to the light green brick."}, {"label": "subtasks", "start_step": 1425, "end_step": 1559, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach_press: Right hand moves toward the top surface of the dark blue brick stacked on the light green brick, contacts the surface and exerts vertical downward force to press the brick."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: retreat: Right hand moves upward and away from the stacked bricks, retreating from the pressing position with empty fingers."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves leftward toward the small orange lego brick on the dark table surface, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 1598, "end_step": 1701, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the small orange lego brick, adjusting finger positions slightly to attempt closing around the brick."}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the small orange lego brick, which falls downward away from the hand."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: idle: Right hand remains empty above the original position of the orange lego brick without any visible movement."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand remains empty, moves upward and rotates slightly to return to the forward-facing initial home position, with fingers gradually adjusting to a relaxed aligned posture. | Right hand: return_home: Right hand remains empty, moves upward and rotates slightly to return to the forward-facing initial home position, with fingers gradually extending and adjusting to a relaxed aligned posture."}], "episode_index": 33}
+{"source_uid": "5e8151eb7fa208d1", "num_frames": 2376, "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": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and left toward the small green block on the left side of the table."}, {"label": "valid", "start_step": 0, "end_step": 2327, "id": "z0ujOCaOeXjxiUcpoQ0z5"}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the small green block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers and makes slight grip adjustments to grasp the small green block on the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped small green block off the black supporting surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the small green block rightward above the larger green block."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the small green block onto the larger green block."}, {"label": "subtasks", "start_step": 285, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the small green block downward to stack it firmly on the larger green block placed on the mat."}, {"label": "subtasks", "start_step": 405, "end_step": 794, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the small green block stacked on the larger green block without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 929, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand closes fingers to grasp the green block on the table then releases the green block."}, {"label": "subtasks", "start_step": 930, "end_step": 1034, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the blue block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1184, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the blue block on the table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the blue block up from the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the blue block rightward to the position above the green block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00014", "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 onto the top of the stacked green block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1311, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the blue block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the blue block and moves away slightly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the orange block on the table to form a grip."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the orange block on the table without moving."}, {"label": "subtasks", "start_step": 1448, "end_step": 1574, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to re-grasp the orange block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped orange block leftward to the position above the green block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00021", "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, with fingers separating from the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the fallen orange block on the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1761, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the fallen orange block, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the orange block to adjust its orientation to an upright position."}, {"label": "subtasks", "start_step": 1830, "end_step": 2001, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the upright orange block toward the stacked green and blue blocks on the table."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00026", "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, fingers open to separate from the block surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the orange block without moving."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the orange block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table and transports it leftward to the position above the blue block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the orange block by opening its fingers."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses down on the orange block to secure it onto the blue block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2375, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "home", "start_step": 2328, "end_step": 2375, "id": "12WlISC5ha6pcGE53g7Hj"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and left toward the small green block on the left side of the table."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the small green block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers and makes slight grip adjustments to grasp the small green block on the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped small green block off the black supporting surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the small green block rightward above the larger green block."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the small green block onto the larger green block."}, {"label": "subtasks", "start_step": 285, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the small green block downward to stack it firmly on the larger green block placed on the mat."}, {"label": "subtasks", "start_step": 405, "end_step": 794, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the small green block stacked on the larger green block without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 929, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand closes fingers to grasp the green block on the table then releases the green block."}, {"label": "subtasks", "start_step": 930, "end_step": 1034, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the blue block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1184, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the blue block on the table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the blue block up from the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the blue block rightward to the position above the green block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00014", "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 onto the top of the stacked green block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1311, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the blue block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the blue block and moves away slightly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the orange block on the table to form a grip."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the orange block on the table without moving."}, {"label": "subtasks", "start_step": 1448, "end_step": 1574, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to re-grasp the orange block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped orange block leftward to the position above the green block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00021", "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, with fingers separating from the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the fallen orange block on the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1761, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the fallen orange block, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the orange block to adjust its orientation to an upright position."}, {"label": "subtasks", "start_step": 1830, "end_step": 2001, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the upright orange block toward the stacked green and blue blocks on the table."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00026", "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, fingers open to separate from the block surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the orange block without moving."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the orange block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table and transports it leftward to the position above the blue block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the orange block by opening its fingers."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses down on the orange block to secure it onto the blue block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2375, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}], "episode_index": 34}
+{"source_uid": "9714fd6d4c144820", "num_frames": 1412, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:raise_and_extend_fingers: Left hand rises slightly at the upper left of the frame, with fingers extending to an open position. | Right hand: other:raise_and_extend_fingers: Right hand rises slightly at the upper right of the frame, with fingers extending to an open position."}, {"label": "valid", "start_step": 0, "end_step": 1364, "id": "DsYgolgJ2BNzJpT9UU4pe"}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: other:raise_and_extend_fingers: Right hand rises slightly at the upper right of the frame, with fingers extending to an open position."}, {"label": "subtasks", "start_step": 68, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves downward toward the blue building block on the black table surface, remaining empty without contacting the block."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves downward toward the small light green 2x2 lego block on the dark work surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 90, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand gradually curls its fingers around the small light green 2x2 lego block, making subtle positional adjustments to establish contact with the block while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: transport: Right hand holds the small light green lego block and moves it downward toward the larger light green lego block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 270, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand adjusts the position and orientation of the small light green lego block to align its connection points with those on the larger light green lego block below."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: press: Right hand applies downward pressure on the top surface of the small light green lego block to secure it to the larger light green lego block."}, {"label": "subtasks", "start_step": 405, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves from the green lego block position toward the blue 2x2 lego block with empty hand, approaching the target."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand contacts the blue 2x2 lego block, closes fingers and makes slight adjustments to establish a firm grip on the block."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: lift_transport: Right hand holds the blue lego block, lifts it from the dark flat surface and moves it leftward toward the green lego block."}, {"label": "subtasks", "start_step": 615, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand adjusts the position of the held blue lego block to align it flush against the adjacent side of the green lego block."}, {"label": "subtasks", "start_step": 720, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves rightward toward the orange 2x2 lego block on the dark flat surface, with fingers held in a slightly open position."}, {"label": "subtasks", "start_step": 870, "end_step": 989, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand curls its fingers to close around the orange 2x2 lego block, making minor adjustments to form contact with the block which remains on the dark surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reorient: Right hand holds the orange lego block and rotates it about half a turn to flip its orientation, with minimal positional change over the dark table surface."}, {"label": "subtasks", "start_step": 1028, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: hold: Right hand holds the flipped orange lego block steadily on the dark table surface without visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1177, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: lift_transport: Right hand lifts the orange lego block off the dark supporting surface and transports it leftward toward the stacked green and blue lego assembly."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand makes minor positional adjustments to align the held orange lego block and mates it onto the top of the stacked lego assembly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: release: Right hand opens its fingers to release the mated orange lego block on top of the stacked lego assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1349, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00023", "text": "Left hand: return_home: Left hand moves downward from the upper left resting position to the left home position, with fingers spreading from a closed extended state to a natural relaxed state, and stops steadily at the home position. | Right hand: retreat: Right hand moves upward away from the lego stack on the dark table surface, with fingers gradually spreading open during the upward movement."}, {"label": "home", "start_step": 1365, "end_step": 1411, "id": "rMglJ0lFMR6L3II2LNZ0G"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00024", "text": "Left hand: return_home: Left hand moves downward from the upper left resting position to the left home position, with fingers spreading from a closed extended state to a natural relaxed state, and stops steadily at the home position. | Right hand: return_home: Right hand moves downward from the upper right area to the right home position, adjusting wrist and finger posture, and stops steadily at the home position."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:raise_and_extend_fingers: Left hand rises slightly at the upper left of the frame, with fingers extending to an open position. | Right hand: other:raise_and_extend_fingers: Right hand rises slightly at the upper right of the frame, with fingers extending to an open position."}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: other:raise_and_extend_fingers: Right hand rises slightly at the upper right of the frame, with fingers extending to an open position."}, {"label": "subtasks", "start_step": 68, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves downward toward the blue building block on the black table surface, remaining empty without contacting the block."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves downward toward the small light green 2x2 lego block on the dark work surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 90, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand gradually curls its fingers around the small light green 2x2 lego block, making subtle positional adjustments to establish contact with the block while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: transport: Right hand holds the small light green lego block and moves it downward toward the larger light green lego block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 270, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand adjusts the position and orientation of the small light green lego block to align its connection points with those on the larger light green lego block below."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: press: Right hand applies downward pressure on the top surface of the small light green lego block to secure it to the larger light green lego block."}, {"label": "subtasks", "start_step": 405, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves from the green lego block position toward the blue 2x2 lego block with empty hand, approaching the target."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand contacts the blue 2x2 lego block, closes fingers and makes slight adjustments to establish a firm grip on the block."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: lift_transport: Right hand holds the blue lego block, lifts it from the dark flat surface and moves it leftward toward the green lego block."}, {"label": "subtasks", "start_step": 615, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand adjusts the position of the held blue lego block to align it flush against the adjacent side of the green lego block."}, {"label": "subtasks", "start_step": 720, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves rightward toward the orange 2x2 lego block on the dark flat surface, with fingers held in a slightly open position."}, {"label": "subtasks", "start_step": 870, "end_step": 989, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand curls its fingers to close around the orange 2x2 lego block, making minor adjustments to form contact with the block which remains on the dark surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reorient: Right hand holds the orange lego block and rotates it about half a turn to flip its orientation, with minimal positional change over the dark table surface."}, {"label": "subtasks", "start_step": 1028, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: hold: Right hand holds the flipped orange lego block steadily on the dark table surface without visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1177, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: lift_transport: Right hand lifts the orange lego block off the dark supporting surface and transports it leftward toward the stacked green and blue lego assembly."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand makes minor positional adjustments to align the held orange lego block and mates it onto the top of the stacked lego assembly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: release: Right hand opens its fingers to release the mated orange lego block on top of the stacked lego assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1349, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00023", "text": "Left hand: return_home: Left hand moves downward from the upper left resting position to the left home position, with fingers spreading from a closed extended state to a natural relaxed state, and stops steadily at the home position. | Right hand: retreat: Right hand moves upward away from the lego stack on the dark table surface, with fingers gradually spreading open during the upward movement."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00024", "text": "Left hand: return_home: Left hand moves downward from the upper left resting position to the left home position, with fingers spreading from a closed extended state to a natural relaxed state, and stops steadily at the home position. | Right hand: return_home: Right hand moves downward from the upper right area to the right home position, adjusting wrist and finger posture, and stops steadily at the home position."}], "episode_index": 35}
+{"source_uid": "5dd9e0425ee96449", "num_frames": 1198, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: idle: Right hand remains empty in the upper right resting position with fingers extended, showing no obvious movement toward the lego bricks."}, {"label": "valid", "start_step": 0, "end_step": 1146, "id": "3LqJ0ZsVOr0viNFTCpj8H"}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward toward the small bright green 2x2 lego brick on the black table surface, with fingers slightly curved as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts fingers around the small bright green 2x2 lego brick, making contact with the brick that stays on the table to begin forming a stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger contact positions and closes its fingers around the small bright green 2x2 lego brick resting on the dark flat supporting surface to establish a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped small bright green 2x2 lego brick completely off the supporting surface and moves it toward the adjacent green lego pieces."}, {"label": "subtasks", "start_step": 225, "end_step": 471, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the small bright green 2x2 lego brick resting on the larger green lego brick, making continuous fine adjustments to the brick's position via slight finger and wrist movements."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand opens fingers to release the small bright green 2x2 lego brick, lifting fingers away from the brick surface."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves leftward while empty from the position above the stacked green bricks, approaching the blue 2x2 brick on the dark supporting surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the blue 2x2 brick, making small adjustments to finger positions to establish a stable grasp while the brick stays on the supporting surface."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: lift: Right hand holds the grasped blue 2x2 brick and moves upward, lifting the brick completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: transport: Right hand holds the grasped blue 2x2 lego brick and moves it rightward and downward to the position directly above the green 2x2 lego brick on the dark surface."}, {"label": "subtasks", "start_step": 622, "end_step": 749, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: place: Right hand lowers the blue 2x2 lego brick onto the top of the green lego brick, making slight positional adjustments to align the bricks while maintaining a firm grip."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves empty rightward and slightly upward away from the stacked green and blue lego bricks, approaching the small orange 2x2 lego brick on the dark gray work surface."}, {"label": "subtasks", "start_step": 802, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the orange 2x2 lego brick, making contact with the brick surface to form a grip."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: transport_place: Right hand holds the grasped orange 2x2 lego brick, moves it leftward through the air and places it onto the top surface of the blue lego brick on the stacked structure."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: mate: Right hand adjusts the position of the orange lego brick to align its connection points with the blue lego brick below to form an assembled fit."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: hold: Right hand holds the aligned orange lego brick steadily on top of the blue lego brick without movement."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the orange lego brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the orange lego brick to secure the assembled lego structure."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand opens fingers to release contact with the top of the stacked lego blocks, fully separating from the lego stack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1197, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: return_home: Right hand moves empty upward and backward away from the lego stack, adjusting finger posture gradually until stopping stably at the right home position."}, {"label": "home", "start_step": 1147, "end_step": 1197, "id": "evQYvlH-mpDzl5pq2RKee"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: idle: Right hand remains empty in the upper right resting position with fingers extended, showing no obvious movement toward the lego bricks."}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward toward the small bright green 2x2 lego brick on the black table surface, with fingers slightly curved as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts fingers around the small bright green 2x2 lego brick, making contact with the brick that stays on the table to begin forming a stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger contact positions and closes its fingers around the small bright green 2x2 lego brick resting on the dark flat supporting surface to establish a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped small bright green 2x2 lego brick completely off the supporting surface and moves it toward the adjacent green lego pieces."}, {"label": "subtasks", "start_step": 225, "end_step": 471, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the small bright green 2x2 lego brick resting on the larger green lego brick, making continuous fine adjustments to the brick's position via slight finger and wrist movements."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand opens fingers to release the small bright green 2x2 lego brick, lifting fingers away from the brick surface."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves leftward while empty from the position above the stacked green bricks, approaching the blue 2x2 brick on the dark supporting surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the blue 2x2 brick, making small adjustments to finger positions to establish a stable grasp while the brick stays on the supporting surface."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: lift: Right hand holds the grasped blue 2x2 brick and moves upward, lifting the brick completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: transport: Right hand holds the grasped blue 2x2 lego brick and moves it rightward and downward to the position directly above the green 2x2 lego brick on the dark surface."}, {"label": "subtasks", "start_step": 622, "end_step": 749, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: place: Right hand lowers the blue 2x2 lego brick onto the top of the green lego brick, making slight positional adjustments to align the bricks while maintaining a firm grip."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves empty rightward and slightly upward away from the stacked green and blue lego bricks, approaching the small orange 2x2 lego brick on the dark gray work surface."}, {"label": "subtasks", "start_step": 802, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the orange 2x2 lego brick, making contact with the brick surface to form a grip."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: transport_place: Right hand holds the grasped orange 2x2 lego brick, moves it leftward through the air and places it onto the top surface of the blue lego brick on the stacked structure."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: mate: Right hand adjusts the position of the orange lego brick to align its connection points with the blue lego brick below to form an assembled fit."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: hold: Right hand holds the aligned orange lego brick steadily on top of the blue lego brick without movement."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the orange lego brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the orange lego brick to secure the assembled lego structure."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand opens fingers to release contact with the top of the stacked lego blocks, fully separating from the lego stack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1197, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: return_home: Right hand moves empty upward and backward away from the lego stack, adjusting finger posture gradually until stopping stably at the right home position."}], "episode_index": 36}
+{"source_uid": "cb6e96eba0aab05a", "num_frames": 1411, "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": 44, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward to the left side of the table. | Right hand: reach: Right hand moves forward and downward toward the blue block on the table."}, {"label": "valid", "start_step": 0, "end_step": 1362, "id": "BguG4WdH_ozkdWOyU8QGL"}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward and downward toward the blue block on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the small green block on the black table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the small green block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and transports it above the larger green block."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "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 onto the larger green block on the table."}, {"label": "subtasks", "start_step": 240, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green building block on the table surface downward."}, {"label": "subtasks", "start_step": 398, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand lifts fingers and moves away from the green building block."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand contacts the green block, adjusts fingers on the block surface, and lifts fingers away from the block."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the blue block placed on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the blue block."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00013", "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 upwards away from the table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the blue block and transports it toward the green block on the table."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the green block to fit them together."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the assembled blue and green blocks without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "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 aligns the orange block with the blue block on the green base."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00018", "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 blue block."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00019", "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 blue block."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block to the area next to the green base."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip to grasp the orange block placed on the dark table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00023", "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 away from the dark table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the orange block with the stacked green and blue blocks by aligning and pressing it into place."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "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 blue block on top of the stacked blocks placed on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the stacked blocks."}, {"label": "subtasks", "start_step": 1350, "end_step": 1410, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "home", "start_step": 1363, "end_step": 1410, "id": "mZ941tkvF3hx6VLUhkAY-"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward to the left side of the table. | Right hand: reach: Right hand moves forward and downward toward the blue block on the table."}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward and downward toward the blue block on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the small green block on the black table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the small green block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and transports it above the larger green block."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "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 onto the larger green block on the table."}, {"label": "subtasks", "start_step": 240, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green building block on the table surface downward."}, {"label": "subtasks", "start_step": 398, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand lifts fingers and moves away from the green building block."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand contacts the green block, adjusts fingers on the block surface, and lifts fingers away from the block."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the blue block placed on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the blue block."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00013", "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 upwards away from the table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the blue block and transports it toward the green block on the table."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the green block to fit them together."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the assembled blue and green blocks without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "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 aligns the orange block with the blue block on the green base."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00018", "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 blue block."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00019", "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 blue block."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block to the area next to the green base."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip to grasp the orange block placed on the dark table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00023", "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 away from the dark table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the orange block with the stacked green and blue blocks by aligning and pressing it into place."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "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 blue block on top of the stacked blocks placed on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the stacked blocks."}, {"label": "subtasks", "start_step": 1350, "end_step": 1410, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}], "episode_index": 37}
+{"source_uid": "10dec1fd7c95effe", "num_frames": 1361, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:move_upper_left: Left hand moves empty upward and slightly left to the upper left position above the black table. | Right hand: other:move_upper_right: Right hand moves empty upward to the upper right position above the black table."}, {"label": "valid", "start_step": 0, "end_step": 1315, "id": "MkBDNWZ7-kO7uIdXfIZkY"}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: other:move_upper_right: Right hand moves empty upward to the upper right position above the black table."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves empty downward toward the small green 2-stud block resting on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand curls fingers to close around the small green block, adjusting finger positions to form a grasp."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand adjusts finger positions and closes around the small lime green lego block resting on the dark work surface to establish a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift: Right hand lifts the grasped small lime green lego block upward until the block fully leaves the dark work surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: transport: Right hand carries the grasped small lime green lego block, moving it horizontally across the workspace."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: place: Right hand lowers the grasped small lime green lego block downward until the block rests stably on the dark work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the small lime green lego block, separating the fingers from the block."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: idle: Right hand remains empty next to the small lime green lego block on the work surface without moving."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_grasp: Right hand moves fingers to the small lime green lego block, closes fingers around the block to re-establish a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift_transport: Right hand lifts the small lime green lego block off the dark work surface, moves it to the larger green lego block, sets the block on the larger block's surface."}, {"label": "subtasks", "start_step": 375, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: hold: Right hand holds the small lime green lego block stably on top of the larger green lego block without any movement."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the small lime green lego block resting on the dark flat surface, lifting fingers away from the block."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_press: Right hand moves its index finger to the top surface of the small lime green lego block, presses down slightly and makes small positional adjustments to the block on the dark surface."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: retreat: Right hand lifts its index finger off the small lime green lego block and retreats slightly away from the block."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves leftward with slightly open fingers, approaching the blue lego block resting on the dark table."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand closes fingers around the blue lego block, making small grip adjustments while the block stays on the table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift: Right hand lifts the grasped blue lego block upward, completely separating the block from the dark table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: transport_place: Right hand carries the grasped blue lego block rightward and downward, placing it onto the top surface of the nearby green lego block."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: hold: Right hand holds the blue lego block steady on top of the green lego block with no visible movement of the hand or blocks."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the blue lego block stacked on top of the green and yellow lego piece."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves empty fingers slightly toward the released blue lego block on the dark gray surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: other:tap_and_adjust: Right hand contacts the blue lego block, taps it and slightly adjusts its position on the surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves rightward toward the orange lego block on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand closes fingers around the orange lego block on the dark table surface, making small adjustments to finger positions to secure the grip."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: place: Right hand grips the orange lego block, lifts it from the table surface, moves it leftward over the blue lego block, and lowers it to rest on top of the blue lego block."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand makes slight finger adjustments to its grip on the orange lego block resting on the blue lego block to stabilize contact with the block."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens its fingers gradually to release the orange lego block, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: retreat: Right hand moves empty away from the lego stack, retreating to the right side of the orange lego block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_press: Right hand moves empty leftward toward the top surface of the orange lego block and presses down on the block's top surface with fingers applying vertical downward pressure."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand releases the stacked lego block resting on the dark gray table, opening fingers to break contact with the orange top section of the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: return_home: Right hand remains empty, moves downward from the area adjacent to the lego block to the lower right home position, and comes to a stable stop."}, {"label": "home", "start_step": 1316, "end_step": 1360, "id": "k1Y7Hbn8MQeBRt0dvVoQi"}, {"label": "subtasks", "start_step": 1320, "end_step": 1360, "id": "reasoning-language-00034", "text": "Left hand: return_home: Left hand remains empty, moves downward from the upper left position to the lower left home position with slight wrist rotation, and comes to a stable stop at the home position. | Right hand: return_home: Right hand remains empty, moves downward from the area adjacent to the lego block to the lower right home position, and comes to a stable stop."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:move_upper_left: Left hand moves empty upward and slightly left to the upper left position above the black table. | Right hand: other:move_upper_right: Right hand moves empty upward to the upper right position above the black table."}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: other:move_upper_right: Right hand moves empty upward to the upper right position above the black table."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves empty downward toward the small green 2-stud block resting on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand curls fingers to close around the small green block, adjusting finger positions to form a grasp."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand adjusts finger positions and closes around the small lime green lego block resting on the dark work surface to establish a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift: Right hand lifts the grasped small lime green lego block upward until the block fully leaves the dark work surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: transport: Right hand carries the grasped small lime green lego block, moving it horizontally across the workspace."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: place: Right hand lowers the grasped small lime green lego block downward until the block rests stably on the dark work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the small lime green lego block, separating the fingers from the block."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: idle: Right hand remains empty next to the small lime green lego block on the work surface without moving."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_grasp: Right hand moves fingers to the small lime green lego block, closes fingers around the block to re-establish a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift_transport: Right hand lifts the small lime green lego block off the dark work surface, moves it to the larger green lego block, sets the block on the larger block's surface."}, {"label": "subtasks", "start_step": 375, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: hold: Right hand holds the small lime green lego block stably on top of the larger green lego block without any movement."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the small lime green lego block resting on the dark flat surface, lifting fingers away from the block."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_press: Right hand moves its index finger to the top surface of the small lime green lego block, presses down slightly and makes small positional adjustments to the block on the dark surface."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: retreat: Right hand lifts its index finger off the small lime green lego block and retreats slightly away from the block."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves leftward with slightly open fingers, approaching the blue lego block resting on the dark table."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand closes fingers around the blue lego block, making small grip adjustments while the block stays on the table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift: Right hand lifts the grasped blue lego block upward, completely separating the block from the dark table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: transport_place: Right hand carries the grasped blue lego block rightward and downward, placing it onto the top surface of the nearby green lego block."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: hold: Right hand holds the blue lego block steady on top of the green lego block with no visible movement of the hand or blocks."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the blue lego block stacked on top of the green and yellow lego piece."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves empty fingers slightly toward the released blue lego block on the dark gray surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: other:tap_and_adjust: Right hand contacts the blue lego block, taps it and slightly adjusts its position on the surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves rightward toward the orange lego block on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand closes fingers around the orange lego block on the dark table surface, making small adjustments to finger positions to secure the grip."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: place: Right hand grips the orange lego block, lifts it from the table surface, moves it leftward over the blue lego block, and lowers it to rest on top of the blue lego block."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand makes slight finger adjustments to its grip on the orange lego block resting on the blue lego block to stabilize contact with the block."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens its fingers gradually to release the orange lego block, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: retreat: Right hand moves empty away from the lego stack, retreating to the right side of the orange lego block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_press: Right hand moves empty leftward toward the top surface of the orange lego block and presses down on the block's top surface with fingers applying vertical downward pressure."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand releases the stacked lego block resting on the dark gray table, opening fingers to break contact with the orange top section of the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: return_home: Right hand remains empty, moves downward from the area adjacent to the lego block to the lower right home position, and comes to a stable stop."}, {"label": "subtasks", "start_step": 1320, "end_step": 1360, "id": "reasoning-language-00034", "text": "Left hand: return_home: Left hand remains empty, moves downward from the upper left position to the lower left home position with slight wrist rotation, and comes to a stable stop at the home position. | Right hand: return_home: Right hand remains empty, moves downward from the area adjacent to the lego block to the lower right home position, and comes to a stable stop."}], "episode_index": 38}
+{"source_uid": "0d0a621b7106c652", "num_frames": 1219, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1176, "id": "cfkyreRDcWEVfChpJ0gB1"}, {"label": "subtasks", "start_step": 15, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: other:rise_slightly_upward: Left hand rises slightly upward at the left side of the black table with fingers extended, keeping empty and not contacting any object."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00002", "text": "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 2-stud brick on the dark flat surface."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green 2-stud brick on the dark flat surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green 2-stud brick on the dark surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "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 2-stud brick off the dark surface and moves it rightward to the position above another green brick."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "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 2-stud brick onto the upper surface of the lower green brick until it is supported."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the small green 2-stud brick on the lower green brick without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its grip on the small green 2-stud brick, with fingers slightly closing and repositioning on the brick surface."}, {"label": "subtasks", "start_step": 270, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: push: Right hand pushes the small green 2-stud brick leftward on the dark flat surface, with the brick remaining in contact with the surface during movement."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves leftward and upward from above the green brick toward the blue brick."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue brick on the dark surface, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue dice on the table, with fingers closing and making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the blue dice from the table and transports it rightward above the green block."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place: Right hand places the blue dice onto the green block."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand holds the blue dice and aligns it with the green brick assembly on the dark surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the blue dice, with fingers opening and separating from the dice."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves upward away from the blue dice as an empty hand."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach_grasp: Right hand reaches toward the blue dice and grasps it with fingers closing around the dice."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the blue dice to align with the green brick assembly on the dark surface."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "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 blue dice, with fingers opening and separating from the dice."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves backward and upward away from the blue dice as an empty hand."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves leftward and upward toward the orange brick on the dark working surface with fingers open."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange brick on the dark working surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange 2x2 brick on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the orange 2x2 brick off the table and transports it leftward to the position above the green-blue stacked brick."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00026", "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 2x2 brick onto the green-blue stacked brick on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand mates the orange 2x2 brick with the green brick beneath it."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the orange 2x2 brick to align it with the blue brick below for assembly."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00029", "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 2x2 brick downward onto the blue brick to secure the assembly."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release_retreat: Right hand releases the orange 2x2 brick and retreats upward away from the brick stack."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: return_home: Left hand moves leftward from the area near the stacked colorful building blocks on the table and stops at the left home position. | Right hand: return_home: Right hand moves rightward from the area near the stacked colorful building blocks on the table and stops at the right home position."}, {"label": "home", "start_step": 1177, "end_step": 1218, "id": "MuNx_8J9BM9X-leGwL9kD"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: other:rise_slightly_upward: Left hand rises slightly upward at the left side of the black table with fingers extended, keeping empty and not contacting any object."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00002", "text": "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 2-stud brick on the dark flat surface."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green 2-stud brick on the dark flat surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green 2-stud brick on the dark surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "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 2-stud brick off the dark surface and moves it rightward to the position above another green brick."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "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 2-stud brick onto the upper surface of the lower green brick until it is supported."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the small green 2-stud brick on the lower green brick without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its grip on the small green 2-stud brick, with fingers slightly closing and repositioning on the brick surface."}, {"label": "subtasks", "start_step": 270, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: push: Right hand pushes the small green 2-stud brick leftward on the dark flat surface, with the brick remaining in contact with the surface during movement."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves leftward and upward from above the green brick toward the blue brick."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue brick on the dark surface, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue dice on the table, with fingers closing and making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the blue dice from the table and transports it rightward above the green block."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place: Right hand places the blue dice onto the green block."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand holds the blue dice and aligns it with the green brick assembly on the dark surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the blue dice, with fingers opening and separating from the dice."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves upward away from the blue dice as an empty hand."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach_grasp: Right hand reaches toward the blue dice and grasps it with fingers closing around the dice."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the blue dice to align with the green brick assembly on the dark surface."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "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 blue dice, with fingers opening and separating from the dice."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves backward and upward away from the blue dice as an empty hand."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves leftward and upward toward the orange brick on the dark working surface with fingers open."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange brick on the dark working surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange 2x2 brick on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the orange 2x2 brick off the table and transports it leftward to the position above the green-blue stacked brick."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00026", "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 2x2 brick onto the green-blue stacked brick on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand mates the orange 2x2 brick with the green brick beneath it."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the orange 2x2 brick to align it with the blue brick below for assembly."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00029", "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 2x2 brick downward onto the blue brick to secure the assembly."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release_retreat: Right hand releases the orange 2x2 brick and retreats upward away from the brick stack."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: return_home: Left hand moves leftward from the area near the stacked colorful building blocks on the table and stops at the left home position. | Right hand: return_home: Right hand moves rightward from the area near the stacked colorful building blocks on the table and stops at the right home position."}], "episode_index": 39}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/annotations.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b0146b3f46dfbf2ce3d73d40ed068e92b2eb3c66
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,40 @@
+{"source_uid": "7e673ad70dab6667", "num_frames": 1792, "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": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward to the natural resting position at the left side of the table. | Right hand: reach: Right hand moves downward and leftward from the right edge of the black table toward the blue building block on the table."}, {"label": "valid", "start_step": 0, "end_step": 1754, "id": "JPombVzQAdoO-98rHYp6f"}, {"label": "subtasks", "start_step": 30, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves downward and leftward from the right edge of the black table toward the blue building block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves leftward and downward toward the small green Lego block on the table."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the small green Lego block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers and makes slight adjustments to grasp the small green 1x1 block on the table."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the small green 1x1 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the small green 1x1 block upward from the table until the block completely leaves the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the small green 1x1 block in the air, moving it slightly leftward and downward while rotating the block slightly to adjust its orientation."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the small green 1x1 block downward onto the black table until the block is stably supported by the table."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the small green 1x1 block on the table, with fingers gradually opening and separating from the block."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the small green 1x1 block after releasing it."}, {"label": "subtasks", "start_step": 390, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and moves it above the larger green block."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place_mate: Right hand places the small green block onto the top of the larger green block and adjusts it for assembly alignment."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the small green block on top of the larger green block without moving."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the small green block on the black table, with fingers gradually opening to release the block."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand moves upward and rightward away from the green block on the table while empty."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves toward the blue 2x2 block on the table, approaching the block."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the blue 2x2 block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue 2x2 block on the table without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue 2x2 block on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the blue 2x2 block up from the dark table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the blue 2x2 block leftward and downward toward the green block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the blue 2x2 block onto the green block until it is stably supported."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue 2x2 block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the blue 2x2 block by opening its fingers."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the blue 2x2 block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves leftward and downward to approach the blue block stacked on top of the green block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the blue block stacked on the green block, with fingers adjusting to stably hold the block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue block stacked on the green block without moving."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the blue block, with fingers opening and fully separating from the block surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves rightward and upward to approach the orange block on the black surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the orange 2x2 block on the table, with slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the orange 2x2 block off the black table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the orange 2x2 block leftward and downward to above the green building block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the orange 2x2 block onto the top surface of the green block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: mate: Right hand adjusts the orange 2x2 block horizontally to align and mate with the adjacent blue block on the green base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the orange 2x2 block on the green block without moving."}, {"label": "subtasks", "start_step": 1582, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: press: Right hand presses the orange 2x2 block downward to fit it firmly onto the blocks below."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the orange 2x2 block, with fingers opening and separating from the block surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the orange block after releasing."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release_retreat: Right hand releases the orange block stacked on the green block and retreats rightward away from the block stack."}, {"label": "home", "start_step": 1755, "end_step": 1791, "id": "NRe5Icfbd2tZTGE_FBRNK"}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose with fingers extending and wrist rotating slightly. | Right hand: release_retreat: Right hand releases the orange block stacked on the green block and retreats rightward away from the block stack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose with fingers extending and wrist rotating slightly. | Right hand: idle: Right hand remains empty at the right edge of the table without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward to the natural resting position at the left side of the table. | Right hand: reach: Right hand moves downward and leftward from the right edge of the black table toward the blue building block on the table."}, {"label": "subtasks", "start_step": 30, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves downward and leftward from the right edge of the black table toward the blue building block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves leftward and downward toward the small green Lego block on the table."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the small green Lego block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers and makes slight adjustments to grasp the small green 1x1 block on the table."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the small green 1x1 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the small green 1x1 block upward from the table until the block completely leaves the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the small green 1x1 block in the air, moving it slightly leftward and downward while rotating the block slightly to adjust its orientation."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the small green 1x1 block downward onto the black table until the block is stably supported by the table."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the small green 1x1 block on the table, with fingers gradually opening and separating from the block."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the small green 1x1 block after releasing it."}, {"label": "subtasks", "start_step": 390, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and moves it above the larger green block."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place_mate: Right hand places the small green block onto the top of the larger green block and adjusts it for assembly alignment."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the small green block on top of the larger green block without moving."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the small green block on the black table, with fingers gradually opening to release the block."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand moves upward and rightward away from the green block on the table while empty."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves toward the blue 2x2 block on the table, approaching the block."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the blue 2x2 block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue 2x2 block on the table without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue 2x2 block on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the blue 2x2 block up from the dark table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the blue 2x2 block leftward and downward toward the green block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the blue 2x2 block onto the green block until it is stably supported."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue 2x2 block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the blue 2x2 block by opening its fingers."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the blue 2x2 block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves leftward and downward to approach the blue block stacked on top of the green block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand grasps the blue block stacked on the green block, with fingers adjusting to stably hold the block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the blue block stacked on the green block without moving."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the blue block, with fingers opening and fully separating from the block surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: reach: Right hand moves rightward and upward to approach the orange block on the black surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the orange 2x2 block on the table, with slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: lift: Right hand lifts the orange 2x2 block off the black table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: transport: Right hand transports the orange 2x2 block leftward and downward to above the green building block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: place: Right hand places the orange 2x2 block onto the top surface of the green block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: mate: Right hand adjusts the orange 2x2 block horizontally to align and mate with the adjacent blue block on the green base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: hold: Right hand holds the orange 2x2 block on the green block without moving."}, {"label": "subtasks", "start_step": 1582, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: press: Right hand presses the orange 2x2 block downward to fit it firmly onto the blocks below."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release: Right hand releases the orange 2x2 block, with fingers opening and separating from the block surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: retreat: Right hand retreats rightward away from the orange block after releasing."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left resting position without moving. | Right hand: release_retreat: Right hand releases the orange block stacked on the green block and retreats rightward away from the block stack."}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose with fingers extending and wrist rotating slightly. | Right hand: release_retreat: Right hand releases the orange block stacked on the green block and retreats rightward away from the block stack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose with fingers extending and wrist rotating slightly. | Right hand: idle: Right hand remains empty at the right edge of the table without moving."}], "episode_index": 0}
+{"source_uid": "6129577630c79558", "num_frames": 1535, "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": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves toward the building blocks on the black table surface with fingers kept open. | Right hand: reach: Right hand moves toward the building blocks on the black table surface with fingers kept open."}, {"label": "valid", "start_step": 0, "end_step": 1496, "id": "6sKB4qKcpJi-KQQGKmbMR"}, {"label": "subtasks", "start_step": 90, "end_step": 367, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers and wrist to form a stable grasp on the small green block on the black table."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift: Right hand lifts the small green block off the black table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: transport: Right hand transports the small green block above the larger green block on the table."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand mates the small green block with the larger green block by aligning and pressing it down."}, {"label": "subtasks", "start_step": 420, "end_step": 591, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the green building block on the black table surface along the normal direction."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand moves towards the blue building block on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 697, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift_transport: Right hand lifts the blue block from the table and transports it above the stacked green blocks."}, {"label": "subtasks", "start_step": 742, "end_step": 891, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand aligns the blue block with the top of the stacked green blocks to prepare for assembly."}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the stacked green blocks to secure the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 981, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand moves towards the orange block placed on the table."}, {"label": "subtasks", "start_step": 982, "end_step": 1109, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift: Right hand lifts the grasped orange block off the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: transport: Right hand carries the orange block to move above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1185, "end_step": 1289, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand places the orange block on top of the green block and presses to align and assemble them."}, {"label": "subtasks", "start_step": 1290, "end_step": 1401, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand adjusts finger position and moves slowly towards the orange top block of the stacked building blocks."}, {"label": "subtasks", "start_step": 1402, "end_step": 1461, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the orange building block vertically downward to secure it on the stacked blocks."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: retreat: Right hand lifts off the orange block and moves backward away from the stacked building blocks."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00020", "text": "Left hand: return_home: Left empty hand moves back to its initial home position on the left side. | Right hand: return_home: Right empty hand moves back to its initial home position on the right side."}, {"label": "home", "start_step": 1497, "end_step": 1534, "id": "HksECnObdVBUhjoEhjodO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves toward the building blocks on the black table surface with fingers kept open. | Right hand: reach: Right hand moves toward the building blocks on the black table surface with fingers kept open."}, {"label": "subtasks", "start_step": 90, "end_step": 367, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers and wrist to form a stable grasp on the small green block on the black table."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift: Right hand lifts the small green block off the black table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: transport: Right hand transports the small green block above the larger green block on the table."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand mates the small green block with the larger green block by aligning and pressing it down."}, {"label": "subtasks", "start_step": 420, "end_step": 591, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the green building block on the black table surface along the normal direction."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand moves towards the blue building block on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 697, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift_transport: Right hand lifts the blue block from the table and transports it above the stacked green blocks."}, {"label": "subtasks", "start_step": 742, "end_step": 891, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand aligns the blue block with the top of the stacked green blocks to prepare for assembly."}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the stacked green blocks to secure the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 981, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand moves towards the orange block placed on the table."}, {"label": "subtasks", "start_step": 982, "end_step": 1109, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: lift: Right hand lifts the grasped orange block off the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: transport: Right hand carries the orange block to move above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1185, "end_step": 1289, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: mate: Right hand places the orange block on top of the green block and presses to align and assemble them."}, {"label": "subtasks", "start_step": 1290, "end_step": 1401, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: reach: Right hand adjusts finger position and moves slowly towards the orange top block of the stacked building blocks."}, {"label": "subtasks", "start_step": 1402, "end_step": 1461, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: press: Right hand presses the orange building block vertically downward to secure it on the stacked blocks."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left side of the table without moving. | Right hand: retreat: Right hand lifts off the orange block and moves backward away from the stacked building blocks."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00020", "text": "Left hand: return_home: Left empty hand moves back to its initial home position on the left side. | Right hand: return_home: Right empty hand moves back to its initial home position on the right side."}], "episode_index": 1}
+{"source_uid": "89943de5b399f8a1", "num_frames": 1563, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1527, "id": "1LDGfSWHPGWOhmrNu6WKW"}, {"label": "subtasks", "start_step": 15, "end_step": 97, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from its initial right upper position toward the small green cubic Lego block on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 98, "end_step": 201, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around the small green cubic Lego block, making slight finger and wrist adjustments to establish a stable grasp while the block remains on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00003", "text": "Right hand: lift_transport: Right hand lifts the grasped small green cubic Lego block off the table surface, then moves it horizontally to position it above the long green rectangular Lego block."}, {"label": "subtasks", "start_step": 232, "end_step": 351, "id": "reasoning-language-00004", "text": "Right hand: mate: Right hand aligns the held small green cubic Lego block with the connection studs on the long green rectangular Lego block, pressing slightly to fit the two blocks into an assembled state."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00005", "text": "Right hand: release: Right hand opens its fingers to release the assembled small green Lego block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00006", "text": "Right hand: reach: Right hand moves right toward the blue building block on the dark flat surface, with fingers held open and extended."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand closes fingers around the blue building block, making small grip adjustments while the block remains resting on the dark surface."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00008", "text": "Right hand: lift_transport: Right hand lifts the grasped blue building block off the dark surface while moving left to carry the block toward the stacked green building blocks."}, {"label": "subtasks", "start_step": 480, "end_step": 539, "id": "reasoning-language-00009", "text": "Right hand: mate: Right hand aligns the held blue building block with the top of the green building block stack, pressing down to fit the blocks together in an assembled position."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00010", "text": "Right hand: hold: Right hand holds the blue building block fitted on top of the green stack without any visible movement."}, {"label": "subtasks", "start_step": 562, "end_step": 569, "id": "reasoning-language-00011", "text": "Right hand: release: Right hand opens fingers to release grip on the blue building block."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00012", "text": "Right hand: grasp: Right hand closes fingers to establish a stable grasp on the dark blue block placed next to the stacked green blocks."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Right hand: push_release: Right hand pushes the grasped blue block rightward across the table surface, then opens fingers to release the block onto the table."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00014", "text": "Right hand: retreat: Right hand moves empty upward and away from the released blue block on the table."}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00015", "text": "Right hand: reach_grasp: Right hand moves empty back down toward the blue block, then closes fingers to grasp the block with small finger adjustments for a secure hold."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00016", "text": "Right hand: reorient_release: Right hand rotates the grasped blue block approximately 90 degrees to turn its studded surface upward, then opens fingers to release the reoriented block onto the table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 831, "id": "reasoning-language-00017", "text": "Right hand: reach_grasp: Right hand moves toward the blue block resting on the dark table surface, closes fingers around the block and makes slight finger and wrist adjustments to form a stable grip, with the block remaining on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00018", "text": "Right hand: lift_transport: Right hand lifts the grasped blue block completely off the table surface, moving the block leftward toward the nearby long green block."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00019", "text": "Right hand: mate: Right hand lowers the blue block to the table surface, adjusting the block's position and orientation to align it flush against the side of the long green block."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00020", "text": "Right hand: hold: Right hand holds the aligned blue block steadily against the long green block on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00021", "text": "Right hand: release: Right hand opens fingers to release the grasped blue block, beginning to move away from the block's surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1147, "id": "reasoning-language-00022", "text": "Right hand: release: Right hand gradually opens its fingers to release the blue block attached to the stacked green block, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1148, "end_step": 1214, "id": "reasoning-language-00023", "text": "Right hand: reach: Right hand moves left across the dark table surface toward the small orange block, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 1215, "end_step": 1281, "id": "reasoning-language-00024", "text": "Right hand: grasp: Right hand adjusts its finger positions and closes fingers to establish a stable grasp on the orange block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00025", "text": "Right hand: lift: Right hand lifts the grasped orange block vertically upward until the block is completely separated from the dark work surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00026", "text": "Right hand: transport_place: Right hand moves the lifted orange block horizontally to a position above the stacked blocks and lowers the block to rest on the top surface of the underlying green block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1409, "id": "reasoning-language-00027", "text": "Right hand: mate: Right hand adjusts the position of the orange block to align and fit it properly with the underlying green block to form the assembly."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "text": "Right hand: release: Right hand opens its fingers gradually to release its grip on the assembled orange block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00029", "text": "Right hand: press: Right hand uses its extended index finger to apply downward vertical pressure on the top surface of the orange block to secure the assembly."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00030", "text": "Right hand: retreat: Right hand moves upward and backward while empty, moving away from the stacked building blocks on the dark table surface."}, {"label": "home", "start_step": 1528, "end_step": 1562, "id": "6c6_cl_1TIvZR7fof5GFT"}, {"label": "subtasks", "start_step": 1538, "end_step": 1562, "id": "reasoning-language-00031", "text": "Left hand: other:move_upward_backward: Left hand moves upward and backward while empty, with fingers spreading slightly as it moves. | Right hand: retreat: Right hand moves upward and backward while empty, moving away from the stacked building blocks on the dark table surface."}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 97, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from its initial right upper position toward the small green cubic Lego block on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 98, "end_step": 201, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around the small green cubic Lego block, making slight finger and wrist adjustments to establish a stable grasp while the block remains on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00003", "text": "Right hand: lift_transport: Right hand lifts the grasped small green cubic Lego block off the table surface, then moves it horizontally to position it above the long green rectangular Lego block."}, {"label": "subtasks", "start_step": 232, "end_step": 351, "id": "reasoning-language-00004", "text": "Right hand: mate: Right hand aligns the held small green cubic Lego block with the connection studs on the long green rectangular Lego block, pressing slightly to fit the two blocks into an assembled state."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00005", "text": "Right hand: release: Right hand opens its fingers to release the assembled small green Lego block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00006", "text": "Right hand: reach: Right hand moves right toward the blue building block on the dark flat surface, with fingers held open and extended."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand closes fingers around the blue building block, making small grip adjustments while the block remains resting on the dark surface."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00008", "text": "Right hand: lift_transport: Right hand lifts the grasped blue building block off the dark surface while moving left to carry the block toward the stacked green building blocks."}, {"label": "subtasks", "start_step": 480, "end_step": 539, "id": "reasoning-language-00009", "text": "Right hand: mate: Right hand aligns the held blue building block with the top of the green building block stack, pressing down to fit the blocks together in an assembled position."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00010", "text": "Right hand: hold: Right hand holds the blue building block fitted on top of the green stack without any visible movement."}, {"label": "subtasks", "start_step": 562, "end_step": 569, "id": "reasoning-language-00011", "text": "Right hand: release: Right hand opens fingers to release grip on the blue building block."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00012", "text": "Right hand: grasp: Right hand closes fingers to establish a stable grasp on the dark blue block placed next to the stacked green blocks."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Right hand: push_release: Right hand pushes the grasped blue block rightward across the table surface, then opens fingers to release the block onto the table."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00014", "text": "Right hand: retreat: Right hand moves empty upward and away from the released blue block on the table."}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00015", "text": "Right hand: reach_grasp: Right hand moves empty back down toward the blue block, then closes fingers to grasp the block with small finger adjustments for a secure hold."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00016", "text": "Right hand: reorient_release: Right hand rotates the grasped blue block approximately 90 degrees to turn its studded surface upward, then opens fingers to release the reoriented block onto the table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 831, "id": "reasoning-language-00017", "text": "Right hand: reach_grasp: Right hand moves toward the blue block resting on the dark table surface, closes fingers around the block and makes slight finger and wrist adjustments to form a stable grip, with the block remaining on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00018", "text": "Right hand: lift_transport: Right hand lifts the grasped blue block completely off the table surface, moving the block leftward toward the nearby long green block."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00019", "text": "Right hand: mate: Right hand lowers the blue block to the table surface, adjusting the block's position and orientation to align it flush against the side of the long green block."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00020", "text": "Right hand: hold: Right hand holds the aligned blue block steadily against the long green block on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00021", "text": "Right hand: release: Right hand opens fingers to release the grasped blue block, beginning to move away from the block's surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1147, "id": "reasoning-language-00022", "text": "Right hand: release: Right hand gradually opens its fingers to release the blue block attached to the stacked green block, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1148, "end_step": 1214, "id": "reasoning-language-00023", "text": "Right hand: reach: Right hand moves left across the dark table surface toward the small orange block, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 1215, "end_step": 1281, "id": "reasoning-language-00024", "text": "Right hand: grasp: Right hand adjusts its finger positions and closes fingers to establish a stable grasp on the orange block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00025", "text": "Right hand: lift: Right hand lifts the grasped orange block vertically upward until the block is completely separated from the dark work surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00026", "text": "Right hand: transport_place: Right hand moves the lifted orange block horizontally to a position above the stacked blocks and lowers the block to rest on the top surface of the underlying green block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1409, "id": "reasoning-language-00027", "text": "Right hand: mate: Right hand adjusts the position of the orange block to align and fit it properly with the underlying green block to form the assembly."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "text": "Right hand: release: Right hand opens its fingers gradually to release its grip on the assembled orange block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00029", "text": "Right hand: press: Right hand uses its extended index finger to apply downward vertical pressure on the top surface of the orange block to secure the assembly."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00030", "text": "Right hand: retreat: Right hand moves upward and backward while empty, moving away from the stacked building blocks on the dark table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1562, "id": "reasoning-language-00031", "text": "Left hand: other:move_upward_backward: Left hand moves upward and backward while empty, with fingers spreading slightly as it moves. | Right hand: retreat: Right hand moves upward and backward while empty, moving away from the stacked building blocks on the dark table surface."}], "episode_index": 2}
+{"source_uid": "5a7a599942172c4e", "num_frames": 3340, "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": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from its initial raised position, empty with fingers extended, approaching the small blue lego block resting on the right area of the black table surface."}, {"label": "valid", "start_step": 0, "end_step": 3300, "id": "cI1PVw6GWn0iJLFO9hNfK"}, {"label": "subtasks", "start_step": 90, "end_step": 427, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the small blue lego block, repeatedly adjusts finger positions and gradually closes fingers to form a stable grip on the block, which stays on the table surface during this period."}, {"label": "subtasks", "start_step": 428, "end_step": 561, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped blue lego block completely off the table surface, then moves the block downward and leftward to the area adjacent to the small orange lego block."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: place: Right hand lowers the grasped blue lego block until it rests stably on the table surface next to the orange lego block, with the block supported by the table."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: reach: Right hand moves left across the dark table surface toward the small green lego block, staying empty without touching any objects during movement."}, {"label": "subtasks", "start_step": 668, "end_step": 861, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the small green lego block on the table, closing fingers gradually to form a stable grip on the block."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the small green lego block upward, raising it until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted small green lego block upward and slightly rightward to a stationary position in the air above the table."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: hold: Right hand holds the small green lego block motionless in the air, with no visible movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: place: Right hand moves the small green lego block downward and slightly leftward toward the table surface to position it for placement."}, {"label": "subtasks", "start_step": 1020, "end_step": 1191, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes around the small green lego block resting on the dark table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1192, "end_step": 1207, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the small green lego block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1289, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: transport: Right hand carries the small green lego block leftward through the air toward the left hand."}, {"label": "subtasks", "start_step": 1290, "end_step": 1297, "id": "reasoning-language-00014", "text": "Left hand: reach_grasp: Left hand moves rightward toward the small green lego block held by the right hand, adjusts its fingers and closes around the block to establish a stable grasp. | Right hand: transport: Right hand carries the small green lego block leftward through the air toward the left hand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1431, "id": "reasoning-language-00015", "text": "Left hand: reach_grasp: Left hand moves rightward toward the small green lego block held by the right hand, adjusts its fingers and closes around the block to establish a stable grasp. | Right hand: hold: Right hand holds the small green lego block steadily in the space between the two hands without noticeable movement."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the small green lego block steadily without noticeable movement as the right hand releases the block. | Right hand: release: Right hand opens its fingers to release the small green lego block, separating from the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00017", "text": "Left hand: place: Left hand holds the small green lego block, moves downward, and places it onto the dark gray table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1515, "end_step": 1589, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the small green lego block resting on the dark gray table surface without any visible movement. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00019", "text": "Left hand: lift: Left hand holds the small green lego block and moves upward to lift it off the dark gray table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1620, "end_step": 1709, "id": "reasoning-language-00020", "text": "Left hand: lift_transport: Left hand lifts the small green lego block off the dark table surface, then transports the block upward and rightward to the position between the two hands. | Right hand: reach: Right hand moves leftward from its initial position near the blue lego block with fingers extended, approaching the small green lego block held by the left hand."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the small green lego block steadily between the two hands without any visible movement of the hand or the block. | Right hand: reach: Right hand moves leftward from its initial position near the blue lego block with fingers extended, approaching the small green lego block held by the left hand."}, {"label": "subtasks", "start_step": 1725, "end_step": 1889, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the small green lego block steadily between the two hands without any visible movement of the hand or the block. | Right hand: grasp: Right hand gradually closes its fingers and adjusts contact points around the small green lego block to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand opens its fingers to release the small green lego block, fully separating from the block by the end of the segment. | Right hand: grasp: Right hand gradually closes its fingers and adjusts contact points around the small green lego block to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1971, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand holds the small green lego block and moves it downward toward the larger green lego block on the black work surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2121, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes small adjustments to its finger grip and the position of the small green lego block resting on the larger green lego block."}, {"label": "subtasks", "start_step": 2122, "end_step": 2219, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the small green lego block steadily on the larger green lego block with no observable movement of the hand, fingers or blocks."}, {"label": "subtasks", "start_step": 2220, "end_step": 2339, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: press: Right hand adjusts its finger position and presses down on the top surface of the small green lego block."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty toward the small blue lego block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2579, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions repeatedly to close around the small blue lego block and establish a stable grip."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped small blue lego block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2654, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the grasped small blue lego block leftward and downward toward the green lego block on the table."}, {"label": "subtasks", "start_step": 2655, "end_step": 2834, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the position of the grasped small blue lego block to align it with the green lego block for assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves toward the small orange lego block on the dark table surface with fingers slightly spread, approaching the target without making contact."}, {"label": "subtasks", "start_step": 2865, "end_step": 3021, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the small orange lego block, making slight adjustments to finger positions to form a stable grasp while the block remains resting on the table."}, {"label": "subtasks", "start_step": 3022, "end_step": 3044, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand moves the grasped small orange lego block vertically upward, lifting the block completely off the dark table surface."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport_place: Right hand moves the grasped small orange lego block leftward to a position above the stacked green and blue lego blocks, lowers the block to rest on the top surface of the blue lego block, supported by the underlying stacked blocks."}, {"label": "subtasks", "start_step": 3060, "end_step": 3074, "id": "reasoning-language-00037", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts finger posture, curling the extended index finger inward to align with other curled fingers. | Right hand: transport_place: Right hand moves the grasped small orange lego block leftward to a position above the stacked green and blue lego blocks, lowers the block to rest on the top surface of the blue lego block, supported by the underlying stacked blocks."}, {"label": "subtasks", "start_step": 3075, "end_step": 3171, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: hold: Right hand holds the small orange lego block steady on top of the stacked green and blue lego blocks, with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 3172, "end_step": 3187, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: release: Right hand opens fingers to release the grasp on the small orange lego block, separating fingers from the block surface."}, {"label": "subtasks", "start_step": 3188, "end_step": 3217, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: idle: Right hand remains empty above the stacked lego blocks with fingers spread, no observable movement."}, {"label": "subtasks", "start_step": 3218, "end_step": 3261, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: press: Right hand presses a finger vertically downward against the top surface of the placed small orange lego block to apply pressure."}, {"label": "subtasks", "start_step": 3262, "end_step": 3269, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: retreat: Right hand lifts the finger off the top surface of the orange lego block, moving slightly upward away from the block."}, {"label": "subtasks", "start_step": 3270, "end_step": 3329, "id": "reasoning-language-00043", "text": "Left hand: return_home: Left hand moves upward back to the home position, with fingers gradually extending, remaining empty throughout the movement. | Right hand: release_return_home: Right hand opens fingers to release the top orange lego block, and moves upward back to the home position."}, {"label": "home", "start_step": 3301, "end_step": 3339, "id": "eGmp5g-SlEs4_FC3Rd1EI"}, {"label": "subtasks", "start_step": 3330, "end_step": 3339, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the home position with extended fingers without moving. | Right hand: idle: Right hand remains empty at the home position without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from its initial raised position, empty with fingers extended, approaching the small blue lego block resting on the right area of the black table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 427, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the small blue lego block, repeatedly adjusts finger positions and gradually closes fingers to form a stable grip on the block, which stays on the table surface during this period."}, {"label": "subtasks", "start_step": 428, "end_step": 561, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped blue lego block completely off the table surface, then moves the block downward and leftward to the area adjacent to the small orange lego block."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: place: Right hand lowers the grasped blue lego block until it rests stably on the table surface next to the orange lego block, with the block supported by the table."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: reach: Right hand moves left across the dark table surface toward the small green lego block, staying empty without touching any objects during movement."}, {"label": "subtasks", "start_step": 668, "end_step": 861, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the small green lego block on the table, closing fingers gradually to form a stable grip on the block."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the small green lego block upward, raising it until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted small green lego block upward and slightly rightward to a stationary position in the air above the table."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: hold: Right hand holds the small green lego block motionless in the air, with no visible movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: place: Right hand moves the small green lego block downward and slightly leftward toward the table surface to position it for placement."}, {"label": "subtasks", "start_step": 1020, "end_step": 1191, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes around the small green lego block resting on the dark table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1192, "end_step": 1207, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the small green lego block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1289, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement of the hand or fingers. | Right hand: transport: Right hand carries the small green lego block leftward through the air toward the left hand."}, {"label": "subtasks", "start_step": 1290, "end_step": 1297, "id": "reasoning-language-00014", "text": "Left hand: reach_grasp: Left hand moves rightward toward the small green lego block held by the right hand, adjusts its fingers and closes around the block to establish a stable grasp. | Right hand: transport: Right hand carries the small green lego block leftward through the air toward the left hand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1431, "id": "reasoning-language-00015", "text": "Left hand: reach_grasp: Left hand moves rightward toward the small green lego block held by the right hand, adjusts its fingers and closes around the block to establish a stable grasp. | Right hand: hold: Right hand holds the small green lego block steadily in the space between the two hands without noticeable movement."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the small green lego block steadily without noticeable movement as the right hand releases the block. | Right hand: release: Right hand opens its fingers to release the small green lego block, separating from the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00017", "text": "Left hand: place: Left hand holds the small green lego block, moves downward, and places it onto the dark gray table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1515, "end_step": 1589, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the small green lego block resting on the dark gray table surface without any visible movement. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00019", "text": "Left hand: lift: Left hand holds the small green lego block and moves upward to lift it off the dark gray table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace with no visible movement."}, {"label": "subtasks", "start_step": 1620, "end_step": 1709, "id": "reasoning-language-00020", "text": "Left hand: lift_transport: Left hand lifts the small green lego block off the dark table surface, then transports the block upward and rightward to the position between the two hands. | Right hand: reach: Right hand moves leftward from its initial position near the blue lego block with fingers extended, approaching the small green lego block held by the left hand."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the small green lego block steadily between the two hands without any visible movement of the hand or the block. | Right hand: reach: Right hand moves leftward from its initial position near the blue lego block with fingers extended, approaching the small green lego block held by the left hand."}, {"label": "subtasks", "start_step": 1725, "end_step": 1889, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the small green lego block steadily between the two hands without any visible movement of the hand or the block. | Right hand: grasp: Right hand gradually closes its fingers and adjusts contact points around the small green lego block to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand opens its fingers to release the small green lego block, fully separating from the block by the end of the segment. | Right hand: grasp: Right hand gradually closes its fingers and adjusts contact points around the small green lego block to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1971, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand holds the small green lego block and moves it downward toward the larger green lego block on the black work surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2121, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes small adjustments to its finger grip and the position of the small green lego block resting on the larger green lego block."}, {"label": "subtasks", "start_step": 2122, "end_step": 2219, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the small green lego block steadily on the larger green lego block with no observable movement of the hand, fingers or blocks."}, {"label": "subtasks", "start_step": 2220, "end_step": 2339, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: press: Right hand adjusts its finger position and presses down on the top surface of the small green lego block."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty toward the small blue lego block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2579, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions repeatedly to close around the small blue lego block and establish a stable grip."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped small blue lego block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2654, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the grasped small blue lego block leftward and downward toward the green lego block on the table."}, {"label": "subtasks", "start_step": 2655, "end_step": 2834, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the position of the grasped small blue lego block to align it with the green lego block for assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves toward the small orange lego block on the dark table surface with fingers slightly spread, approaching the target without making contact."}, {"label": "subtasks", "start_step": 2865, "end_step": 3021, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the small orange lego block, making slight adjustments to finger positions to form a stable grasp while the block remains resting on the table."}, {"label": "subtasks", "start_step": 3022, "end_step": 3044, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand moves the grasped small orange lego block vertically upward, lifting the block completely off the dark table surface."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport_place: Right hand moves the grasped small orange lego block leftward to a position above the stacked green and blue lego blocks, lowers the block to rest on the top surface of the blue lego block, supported by the underlying stacked blocks."}, {"label": "subtasks", "start_step": 3060, "end_step": 3074, "id": "reasoning-language-00037", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts finger posture, curling the extended index finger inward to align with other curled fingers. | Right hand: transport_place: Right hand moves the grasped small orange lego block leftward to a position above the stacked green and blue lego blocks, lowers the block to rest on the top surface of the blue lego block, supported by the underlying stacked blocks."}, {"label": "subtasks", "start_step": 3075, "end_step": 3171, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: hold: Right hand holds the small orange lego block steady on top of the stacked green and blue lego blocks, with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 3172, "end_step": 3187, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: release: Right hand opens fingers to release the grasp on the small orange lego block, separating fingers from the block surface."}, {"label": "subtasks", "start_step": 3188, "end_step": 3217, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: idle: Right hand remains empty above the stacked lego blocks with fingers spread, no observable movement."}, {"label": "subtasks", "start_step": 3218, "end_step": 3261, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: press: Right hand presses a finger vertically downward against the top surface of the placed small orange lego block to apply pressure."}, {"label": "subtasks", "start_step": 3262, "end_step": 3269, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with all fingers curled, no observable movement. | Right hand: retreat: Right hand lifts the finger off the top surface of the orange lego block, moving slightly upward away from the block."}, {"label": "subtasks", "start_step": 3270, "end_step": 3329, "id": "reasoning-language-00043", "text": "Left hand: return_home: Left hand moves upward back to the home position, with fingers gradually extending, remaining empty throughout the movement. | Right hand: release_return_home: Right hand opens fingers to release the top orange lego block, and moves upward back to the home position."}, {"label": "subtasks", "start_step": 3330, "end_step": 3339, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the home position with extended fingers without moving. | Right hand: idle: Right hand remains empty at the home position without moving."}], "episode_index": 3}
+{"source_uid": "526de8d1f899b779", "num_frames": 1602, "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": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its hand posture with fingers opening at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block located in the middle of the black table."}, {"label": "valid", "start_step": 0, "end_step": 1558, "id": "BB4H3thsapmBydQ1APQfo"}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block located in the middle of the black table."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue block on the black table."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts finger positions to establish stable grasp on the small green block on the black table."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift: Right hand lifts the grasped small green block away from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the green block on the black table, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the orange block on the black tabletop."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach_grasp: Right hand reaches for and grasps the blue block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: push: Right hand pushes the blue block towards the green block on the black table."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reorient: Right hand flips the blue block to adjust its orientation on the dark table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift_transport: Right hand lifts the blue block from the table and transports it above the green block."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: place: Right hand places the blue block onto the top of the green block."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the blue block."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: transport: Right hand holds the blue block and moves it rightwards in the air."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: place_release: Right hand places the blue block on the black table then releases it, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block on the black table."}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the blue block placed on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: transport: Right hand moves the grasped blue block towards the green block on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the green-blue stacked block on the table, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the orange block on the table, remaining empty during movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand grasps the orange block on the table, fingers close to contact the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the orange block on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift_transport: Right hand lifts the orange block from the table and transports it towards the green and blue stacked block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: mate: Right hand aligns and places the orange block onto the top of the green and blue stacked block to complete assembly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1537, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the stacked colorful building blocks on the black table, with fingers gradually opening to detach from the blocks."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: retreat: Right hand retreats away from the stacked building blocks after releasing the grip."}, {"label": "home", "start_step": 1559, "end_step": 1601, "id": "sa_TlT1hibQBWt8xsynVC"}, {"label": "subtasks", "start_step": 1560, "end_step": 1601, "id": "reasoning-language-00033", "text": "Left hand: return_home: Left hand retracts and stops at its initial position on the left side of the table. | Right hand: return_home: Right hand retracts and stops at its initial position on the right side of the table."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its hand posture with fingers opening at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block located in the middle of the black table."}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block located in the middle of the black table."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue block on the black table."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts finger positions to establish stable grasp on the small green block on the black table."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift: Right hand lifts the grasped small green block away from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the green block on the black table, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the orange block on the black tabletop."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach_grasp: Right hand reaches for and grasps the blue block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: push: Right hand pushes the blue block towards the green block on the black table."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reorient: Right hand flips the blue block to adjust its orientation on the dark table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift_transport: Right hand lifts the blue block from the table and transports it above the green block."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: place: Right hand places the blue block onto the top of the green block."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the blue block."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: transport: Right hand holds the blue block and moves it rightwards in the air."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: place_release: Right hand places the blue block on the black table then releases it, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the blue block on the black table."}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the blue block placed on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: transport: Right hand moves the grasped blue block towards the green block on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the green-blue stacked block on the table, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: reach: Right hand moves towards the orange block on the table, remaining empty during movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand grasps the orange block on the table, fingers close to contact the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the orange block on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: lift_transport: Right hand lifts the orange block from the table and transports it towards the green and blue stacked block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: mate: Right hand aligns and places the orange block onto the top of the green and blue stacked block to complete assembly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1537, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: release: Right hand releases the stacked colorful building blocks on the black table, with fingers gradually opening to detach from the blocks."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the black table. | Right hand: retreat: Right hand retreats away from the stacked building blocks after releasing the grip."}, {"label": "subtasks", "start_step": 1560, "end_step": 1601, "id": "reasoning-language-00033", "text": "Left hand: return_home: Left hand retracts and stops at its initial position on the left side of the table. | Right hand: return_home: Right hand retracts and stops at its initial position on the right side of the table."}], "episode_index": 4}
+{"source_uid": "54a9c680d5ee86a0", "num_frames": 1671, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1635, "id": "UlNzEDxUg74FCVo1eaWET"}, {"label": "subtasks", "start_step": 15, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger and wrist posture above the left side of the table, without contacting any objects. | Right hand: reach: Right hand moves downward toward the Lego bricks placed on the central table area, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 52, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves downward toward the Lego bricks placed on the central table area, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand makes minor continuous adjustments to its finger positions around the adjacent blue and small green Lego bricks to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand stays in contact with the small green 2x2 plastic block on the dark flat surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: other:nudge_block: Right hand moves its fingers to nudge the small green 2x2 plastic block, causing the block to shift slightly across the dark flat surface."}, {"label": "subtasks", "start_step": 240, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand remains in contact with the small green 2x2 plastic block, with no visible movement of the hand or the block on the dark flat surface."}, {"label": "subtasks", "start_step": 352, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: other:nudge_block: Right hand moves its fingers to nudge the small green 2x2 plastic block, adjusting the block's position with small shifts across the dark flat surface."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls fingers to close around the small 2x2 light green lego block on the black work surface, making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_transport: Right hand lifts the gripped small 2x2 light green lego block completely off the black work surface and moves it horizontally toward the nearby cluster of lego pieces."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: place: Right hand lowers the small 2x2 light green lego block and sets it onto the top surface of the longer light green lego block until the block is supported by the longer piece."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand holds the small 2x2 light green lego block on top of the longer light green lego block without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 525, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: mate_release: Right hand makes small finger and wrist adjustments to align the small 2x2 light green lego block with the longer green lego block beneath it, releasing contact with the aligned block."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: retreat: Right hand moves empty upward and slightly left away from the stacked green lego blocks."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves empty downward toward the blue 2x2 lego block resting on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 675, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls its fingers to adjust contact and establish a stable grasp on the blue 2x2 lego block resting on the dark table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_transport: Right hand lifts the grasped blue 2x2 lego block completely off the dark table surface and moves it toward the area next to the green lego block."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: place: Right hand lowers the grasped blue 2x2 lego block down to the dark table surface adjacent to the green lego block, positioning it to rest stably on the surface."}, {"label": "subtasks", "start_step": 825, "end_step": 951, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand adjusts finger positions on the blue 2x2 lego block to establish a stable grip, with small finger movements to reposition contact points."}, {"label": "subtasks", "start_step": 952, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: push: Right hand pushes the blue 2x2 lego block to slide across the dark table surface toward the adjacent green lego block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1199, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: press: Right hand presses down on the blue 2x2 lego block against the table surface to fine-tune its final position next to the green lego block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves right toward the orange 2x2 lego block on the dark work surface, with fingers held slightly open during the movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1379, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand makes small continuous adjustments to finger positions and wrist orientation to establish and stabilize contact with the orange 2x2 lego block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls fingers around the orange 2x2 lego block on the dark table surface, adjusting grip to form a stable hold on the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_place: Right hand lifts the orange 2x2 lego block off the dark table surface, shifts it a short distance left to rest on top of the stacked green and blue lego blocks."}, {"label": "subtasks", "start_step": 1432, "end_step": 1529, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: mate: Right hand adjusts the orange lego block on the stacked blocks with slight wiggling motions to align its connection points with the blocks below for assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: release_retreat: Right hand opens fingers to release grasp on the orange lego block, moves a short distance upward away from the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach_press: Right hand moves down to the orange lego block, applies downward pressure on the block's top surface to secure it to the stacked blocks below."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: retreat: Right hand lifts its finger off the orange lego block's top surface, moves upward away from the assembled lego stack."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: return_home: Left hand stays empty, moves upward and backward toward its initial raised position on the left, with fingers adjusting to an extended open posture during the movement. | Right hand: return_home: Right hand stays empty, moves upward and backward toward its initial raised position on the right, with fingers adjusting to an extended open posture during the movement."}, {"label": "home", "start_step": 1636, "end_step": 1670, "id": "3IDz5u1pkLxn2bUbz8mPJ"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger and wrist posture above the left side of the table, without contacting any objects. | Right hand: reach: Right hand moves downward toward the Lego bricks placed on the central table area, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 52, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves downward toward the Lego bricks placed on the central table area, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand makes minor continuous adjustments to its finger positions around the adjacent blue and small green Lego bricks to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand stays in contact with the small green 2x2 plastic block on the dark flat surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: other:nudge_block: Right hand moves its fingers to nudge the small green 2x2 plastic block, causing the block to shift slightly across the dark flat surface."}, {"label": "subtasks", "start_step": 240, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand remains in contact with the small green 2x2 plastic block, with no visible movement of the hand or the block on the dark flat surface."}, {"label": "subtasks", "start_step": 352, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: other:nudge_block: Right hand moves its fingers to nudge the small green 2x2 plastic block, adjusting the block's position with small shifts across the dark flat surface."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls fingers to close around the small 2x2 light green lego block on the black work surface, making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_transport: Right hand lifts the gripped small 2x2 light green lego block completely off the black work surface and moves it horizontally toward the nearby cluster of lego pieces."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: place: Right hand lowers the small 2x2 light green lego block and sets it onto the top surface of the longer light green lego block until the block is supported by the longer piece."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: hold: Right hand holds the small 2x2 light green lego block on top of the longer light green lego block without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 525, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: mate_release: Right hand makes small finger and wrist adjustments to align the small 2x2 light green lego block with the longer green lego block beneath it, releasing contact with the aligned block."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: retreat: Right hand moves empty upward and slightly left away from the stacked green lego blocks."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves empty downward toward the blue 2x2 lego block resting on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 675, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls its fingers to adjust contact and establish a stable grasp on the blue 2x2 lego block resting on the dark table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_transport: Right hand lifts the grasped blue 2x2 lego block completely off the dark table surface and moves it toward the area next to the green lego block."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: place: Right hand lowers the grasped blue 2x2 lego block down to the dark table surface adjacent to the green lego block, positioning it to rest stably on the surface."}, {"label": "subtasks", "start_step": 825, "end_step": 951, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand adjusts finger positions on the blue 2x2 lego block to establish a stable grip, with small finger movements to reposition contact points."}, {"label": "subtasks", "start_step": 952, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: push: Right hand pushes the blue 2x2 lego block to slide across the dark table surface toward the adjacent green lego block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1199, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: press: Right hand presses down on the blue 2x2 lego block against the table surface to fine-tune its final position next to the green lego block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach: Right hand moves right toward the orange 2x2 lego block on the dark work surface, with fingers held slightly open during the movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1379, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand makes small continuous adjustments to finger positions and wrist orientation to establish and stabilize contact with the orange 2x2 lego block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: grasp: Right hand curls fingers around the orange 2x2 lego block on the dark table surface, adjusting grip to form a stable hold on the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: lift_place: Right hand lifts the orange 2x2 lego block off the dark table surface, shifts it a short distance left to rest on top of the stacked green and blue lego blocks."}, {"label": "subtasks", "start_step": 1432, "end_step": 1529, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: mate: Right hand adjusts the orange lego block on the stacked blocks with slight wiggling motions to align its connection points with the blocks below for assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: release_retreat: Right hand opens fingers to release grasp on the orange lego block, moves a short distance upward away from the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: reach_press: Right hand moves down to the orange lego block, applies downward pressure on the block's top surface to secure it to the stacked blocks below."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the table with no observable movement relative to the table surface. | Right hand: retreat: Right hand lifts its finger off the orange lego block's top surface, moves upward away from the assembled lego stack."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: return_home: Left hand stays empty, moves upward and backward toward its initial raised position on the left, with fingers adjusting to an extended open posture during the movement. | Right hand: return_home: Right hand stays empty, moves upward and backward toward its initial raised position on the right, with fingers adjusting to an extended open posture during the movement."}], "episode_index": 5}
+{"source_uid": "324d7ee9553d8197", "num_frames": 1161, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1121, "id": "hcHrs_Se6UrnseLwKbI--"}, {"label": "subtasks", "start_step": 15, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:minor_finger_adjustment: Left hand makes minor positional adjustments to its fingers while remaining stationary in the upper left area, making no contact with any objects. | Right hand: reach: Right hand moves downward toward the small green lego block placed on the dark table surface, with fingers held in an open position."}, {"label": "subtasks", "start_step": 30, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach: Right hand moves downward toward the small green lego block placed on the dark table surface, with fingers held in an open position."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: grasp: Right hand makes fine finger adjustments to close around and form a grip on the small green lego block that remains resting on the table."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift: Right hand moves upward while securely holding the small green lego block, lifting the block fully off the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: transport_place: Right hand holds the small green 2x2 lego brick, moves it slightly down and right, and places it onto the larger green lego brick resting on the dark flat surface."}, {"label": "subtasks", "start_step": 292, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: hold: Right hand holds the small green 2x2 lego brick steadily on top of the larger green lego brick with no observable movement of the hand or the bricks."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: release: Right hand opens fingers to release the small green 2x2 lego brick, with the index finger lifting slightly away from the brick's top surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach: Right hand moves while empty toward the small blue 2x2 lego brick on the dark gray surface, without making contact with the brick."}, {"label": "subtasks", "start_step": 435, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the small blue 2x2 lego brick, forming a stable grasp while the brick remains resting on the dark surface."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift: Right hand lifts the grasped blue 2x2 lego brick upward, fully lifting the brick off the dark supporting surface."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: transport: Right hand carries the lifted blue lego brick leftward through the air, moving it to the position directly above the adjacent green lego brick."}, {"label": "subtasks", "start_step": 600, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: mate_release: Right hand aligns the held blue 2x2 lego brick with the green lego brick below, presses downward to fit the two bricks together into a connected assembly, opens fingers to release the assembled blue brick and separates from the brick surface."}, {"label": "subtasks", "start_step": 705, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach_grasp: Right hand moves toward the small orange 2x2 lego brick resting on the dark flat surface, closes fingers around the brick while making slight adjustments to finger positions and wrist posture to form a stable grasp, with the brick remaining on the dark support surface."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped small orange 2x2 lego brick completely off the dark support surface, moves it leftward toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: place: Right hand lowers the small orange 2x2 lego brick onto the top surface of the stacked blue and green lego bricks until the brick is stably supported by the target structure."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: hold: Right hand holds the small orange 2x2 lego brick steadily on top of the stacked blue and green lego bricks, with no observable movement of the hand or the brick."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: release: Right hand releases the stacked lego blocks on the dark flat surface, with fingers adjusting position around the stack, the index finger applying light pressure to the top orange lego brick, and fingers opening to separate from the lego stack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: return_home: Right hand moves upward and backward from the position above the lego stack back to its right-side home position, and stops steadily at the home position."}, {"label": "home", "start_step": 1122, "end_step": 1160, "id": "TkQt-vMUyNZAjawFP6tG7"}, {"label": "subtasks", "start_step": 1132, "end_step": 1160, "id": "reasoning-language-00019", "text": "Left hand: return_home: Left hand moves downward from the upper left position back to its left-side home position, with fingers slightly spreading, and stops steadily at the home position. | Right hand: return_home: Right hand moves upward and backward from the position above the lego stack back to its right-side home position, and stops steadily at the home position."}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:minor_finger_adjustment: Left hand makes minor positional adjustments to its fingers while remaining stationary in the upper left area, making no contact with any objects. | Right hand: reach: Right hand moves downward toward the small green lego block placed on the dark table surface, with fingers held in an open position."}, {"label": "subtasks", "start_step": 30, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach: Right hand moves downward toward the small green lego block placed on the dark table surface, with fingers held in an open position."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: grasp: Right hand makes fine finger adjustments to close around and form a grip on the small green lego block that remains resting on the table."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift: Right hand moves upward while securely holding the small green lego block, lifting the block fully off the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: transport_place: Right hand holds the small green 2x2 lego brick, moves it slightly down and right, and places it onto the larger green lego brick resting on the dark flat surface."}, {"label": "subtasks", "start_step": 292, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: hold: Right hand holds the small green 2x2 lego brick steadily on top of the larger green lego brick with no observable movement of the hand or the bricks."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: release: Right hand opens fingers to release the small green 2x2 lego brick, with the index finger lifting slightly away from the brick's top surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach: Right hand moves while empty toward the small blue 2x2 lego brick on the dark gray surface, without making contact with the brick."}, {"label": "subtasks", "start_step": 435, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the small blue 2x2 lego brick, forming a stable grasp while the brick remains resting on the dark surface."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift: Right hand lifts the grasped blue 2x2 lego brick upward, fully lifting the brick off the dark supporting surface."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: transport: Right hand carries the lifted blue lego brick leftward through the air, moving it to the position directly above the adjacent green lego brick."}, {"label": "subtasks", "start_step": 600, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: mate_release: Right hand aligns the held blue 2x2 lego brick with the green lego brick below, presses downward to fit the two bricks together into a connected assembly, opens fingers to release the assembled blue brick and separates from the brick surface."}, {"label": "subtasks", "start_step": 705, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: reach_grasp: Right hand moves toward the small orange 2x2 lego brick resting on the dark flat surface, closes fingers around the brick while making slight adjustments to finger positions and wrist posture to form a stable grasp, with the brick remaining on the dark support surface."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped small orange 2x2 lego brick completely off the dark support surface, moves it leftward toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: place: Right hand lowers the small orange 2x2 lego brick onto the top surface of the stacked blue and green lego bricks until the brick is stably supported by the target structure."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: hold: Right hand holds the small orange 2x2 lego brick steadily on top of the stacked blue and green lego bricks, with no observable movement of the hand or the brick."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: release: Right hand releases the stacked lego blocks on the dark flat surface, with fingers adjusting position around the stack, the index finger applying light pressure to the top orange lego brick, and fingers opening to separate from the lego stack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area above the dark table surface with no observable movement. | Right hand: return_home: Right hand moves upward and backward from the position above the lego stack back to its right-side home position, and stops steadily at the home position."}, {"label": "subtasks", "start_step": 1132, "end_step": 1160, "id": "reasoning-language-00019", "text": "Left hand: return_home: Left hand moves downward from the upper left position back to its left-side home position, with fingers slightly spreading, and stops steadily at the home position. | Right hand: return_home: Right hand moves upward and backward from the position above the lego stack back to its right-side home position, and stops steadily at the home position."}], "episode_index": 6}
+{"source_uid": "2aa2fca4a46fe51d", "num_frames": 1698, "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": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the small green block on the black table."}, {"label": "valid", "start_step": 0, "end_step": 1664, "id": "p1eW6UDqEPr-jWQR65XeF"}, {"label": "subtasks", "start_step": 98, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the small green block on the black table."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green block away from the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand carries the small green block and moves toward the left side of the table."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: reach: Left hand moves toward the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block steadily without obvious movement."}, {"label": "subtasks", "start_step": 308, "end_step": 427, "id": "reasoning-language-00006", "text": "Left hand: grasp: Left hand adjusts fingers and closes to grasp the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block steadily without obvious movement."}, {"label": "subtasks", "start_step": 428, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand adjusts fingers and closes to grasp the small green block held by the right hand. | Right hand: release: Right hand releases the small green block, separating fingers from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: place: Left hand moves downward to place the small green block onto the table surface. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: release: Left hand opens fingers to release the small green block, separating from the block. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: retreat: Left hand moves upward away from the placed small green block. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00011", "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 small green block on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 621, "id": "reasoning-language-00012", "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 around the small green block and makes slight adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 622, "end_step": 727, "id": "reasoning-language-00013", "text": "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 block from the table and transports it above the long green block."}, {"label": "subtasks", "start_step": 728, "end_step": 907, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the position of the small green block to align it with the top surface of the long green block for assembly."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00015", "text": "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 block onto the top of the long green block."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens its fingers to release the small green block."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00017", "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 blue block placed on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift: Right hand lifts the blue block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1207, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand moves the held blue block toward the green block on the table."}, {"label": "subtasks", "start_step": 1208, "end_step": 1297, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand assembles the blue block onto the top of the green block by pressing slightly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the blue block, with fingers separating from the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00023", "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 block on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand closes fingers around the orange block, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00025", "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 block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand carries the orange block leftward toward the green-blue block on the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00027", "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 block onto the top of the green-blue block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1551, "id": "reasoning-language-00028", "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 block down to mate with the green-blue block below."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens fingers to release the orange block."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves away from the assembled blocks toward the right side."}, {"label": "subtasks", "start_step": 1650, "end_step": 1697, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving."}, {"label": "home", "start_step": 1665, "end_step": 1697, "id": "pz_gtEFEk8ptUr7DiE-5n"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the small green block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the small green block on the black table."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green block away from the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand carries the small green block and moves toward the left side of the table."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: reach: Left hand moves toward the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block steadily without obvious movement."}, {"label": "subtasks", "start_step": 308, "end_step": 427, "id": "reasoning-language-00006", "text": "Left hand: grasp: Left hand adjusts fingers and closes to grasp the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block steadily without obvious movement."}, {"label": "subtasks", "start_step": 428, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand adjusts fingers and closes to grasp the small green block held by the right hand. | Right hand: release: Right hand releases the small green block, separating fingers from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: place: Left hand moves downward to place the small green block onto the table surface. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: release: Left hand opens fingers to release the small green block, separating from the block. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: retreat: Left hand moves upward away from the placed small green block. | Right hand: idle: Right hand remains empty at the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00011", "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 small green block on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 621, "id": "reasoning-language-00012", "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 around the small green block and makes slight adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 622, "end_step": 727, "id": "reasoning-language-00013", "text": "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 block from the table and transports it above the long green block."}, {"label": "subtasks", "start_step": 728, "end_step": 907, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the position of the small green block to align it with the top surface of the long green block for assembly."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00015", "text": "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 block onto the top of the long green block."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens its fingers to release the small green block."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00017", "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 blue block placed on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift: Right hand lifts the blue block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1207, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand moves the held blue block toward the green block on the table."}, {"label": "subtasks", "start_step": 1208, "end_step": 1297, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand assembles the blue block onto the top of the green block by pressing slightly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the blue block, with fingers separating from the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00023", "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 block on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand closes fingers around the orange block, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00025", "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 block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand carries the orange block leftward toward the green-blue block on the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00027", "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 block onto the top of the green-blue block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1551, "id": "reasoning-language-00028", "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 block down to mate with the green-blue block below."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens fingers to release the orange block."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves away from the assembled blocks toward the right side."}, {"label": "subtasks", "start_step": 1650, "end_step": 1697, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving."}], "episode_index": 7}
+{"source_uid": "45e57db528a33e70", "num_frames": 1175, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1135, "id": "2DnK34ekecSJXlHLLVPVU"}, {"label": "subtasks", "start_step": 15, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward toward the small green lego brick on the black table, with fingers extended and slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 112, "end_step": 344, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the small green lego brick, adjusting finger positions and wrist orientation around the brick to secure a grip while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts finger positions to close around the small green lego brick on the dark surface, forming a stable grip on the brick."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00004", "text": "Right hand: hold: Right hand holds the small green lego brick steadily on the dark surface without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the small green lego brick upward, completely separating it from the dark supporting surface."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand carries the small green lego brick toward the larger green lego brick, rotating the brick slightly to adjust its orientation during movement."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00007", "text": "Right hand: place: Right hand lowers the small green lego brick onto the surface of the larger green lego brick until the small brick is stably supported."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00008", "text": "Right hand: release: Right hand opens its fingers to release the small green lego brick, separating the hand from the brick."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00009", "text": "Right hand: reach: Right hand moves toward the blue lego brick on the dark flat surface while empty, approaching the target object."}, {"label": "subtasks", "start_step": 668, "end_step": 734, "id": "reasoning-language-00010", "text": "Right hand: grasp: Right hand closes fingers around the blue lego brick, making small adjustments to finger positions to establish a stable grip, with the brick remaining on the dark surface."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00011", "text": "Right hand: lift: Right hand lifts the grasped blue lego brick upward, raising it completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00012", "text": "Right hand: transport: Right hand carries the lifted blue lego brick horizontally leftward, moving it directly over the adjacent green lego brick."}, {"label": "subtasks", "start_step": 772, "end_step": 884, "id": "reasoning-language-00013", "text": "Right hand: mate: Right hand aligns the blue lego brick with the connection studs on the green lego brick, making slight positional adjustments and pressing down to fit the two bricks together securely."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00014", "text": "Right hand: release: Right hand opens its fingers to release the assembled blue lego brick, separating the hand from the brick."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00015", "text": "Right hand: reach: Right hand moves right toward the orange lego brick on the dark flat surface, with fingers held in a slightly extended position."}, {"label": "subtasks", "start_step": 945, "end_step": 997, "id": "reasoning-language-00016", "text": "Right hand: grasp: Right hand closes fingers around the orange lego brick, making small finger and wrist adjustments to form a stable grip while the brick stays on the dark surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00017", "text": "Right hand: lift_transport: Right hand lifts the orange lego brick fully off the dark surface, then moves the brick left toward the stacked green and blue lego bricks with slight wrist rotation."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00018", "text": "Right hand: place: Right hand lowers the orange lego brick onto the top of the stacked lego bricks, adjusting position slightly until the brick is fully supported by the stack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00019", "text": "Right hand: release: Right hand opens its fingers to release the orange lego brick resting securely on the lego stack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00020", "text": "Right hand: retreat: Right hand moves right away from the stacked lego bricks, remaining empty as it withdraws."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00021", "text": "Left hand: return_home: Left hand remains empty, moves upward back to its initial raised home position with slight finger adjustments during the movement. | Right hand: return_home: Right hand remains empty, moves upward back to its initial raised home position with slight finger adjustments during the movement."}, {"label": "home", "start_step": 1136, "end_step": 1174, "id": "QQ2hgaNGQzi0URXy7Df-b"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward toward the small green lego brick on the black table, with fingers extended and slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 112, "end_step": 344, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the small green lego brick, adjusting finger positions and wrist orientation around the brick to secure a grip while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts finger positions to close around the small green lego brick on the dark surface, forming a stable grip on the brick."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00004", "text": "Right hand: hold: Right hand holds the small green lego brick steadily on the dark surface without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the small green lego brick upward, completely separating it from the dark supporting surface."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand carries the small green lego brick toward the larger green lego brick, rotating the brick slightly to adjust its orientation during movement."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00007", "text": "Right hand: place: Right hand lowers the small green lego brick onto the surface of the larger green lego brick until the small brick is stably supported."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00008", "text": "Right hand: release: Right hand opens its fingers to release the small green lego brick, separating the hand from the brick."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00009", "text": "Right hand: reach: Right hand moves toward the blue lego brick on the dark flat surface while empty, approaching the target object."}, {"label": "subtasks", "start_step": 668, "end_step": 734, "id": "reasoning-language-00010", "text": "Right hand: grasp: Right hand closes fingers around the blue lego brick, making small adjustments to finger positions to establish a stable grip, with the brick remaining on the dark surface."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00011", "text": "Right hand: lift: Right hand lifts the grasped blue lego brick upward, raising it completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00012", "text": "Right hand: transport: Right hand carries the lifted blue lego brick horizontally leftward, moving it directly over the adjacent green lego brick."}, {"label": "subtasks", "start_step": 772, "end_step": 884, "id": "reasoning-language-00013", "text": "Right hand: mate: Right hand aligns the blue lego brick with the connection studs on the green lego brick, making slight positional adjustments and pressing down to fit the two bricks together securely."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00014", "text": "Right hand: release: Right hand opens its fingers to release the assembled blue lego brick, separating the hand from the brick."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00015", "text": "Right hand: reach: Right hand moves right toward the orange lego brick on the dark flat surface, with fingers held in a slightly extended position."}, {"label": "subtasks", "start_step": 945, "end_step": 997, "id": "reasoning-language-00016", "text": "Right hand: grasp: Right hand closes fingers around the orange lego brick, making small finger and wrist adjustments to form a stable grip while the brick stays on the dark surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00017", "text": "Right hand: lift_transport: Right hand lifts the orange lego brick fully off the dark surface, then moves the brick left toward the stacked green and blue lego bricks with slight wrist rotation."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00018", "text": "Right hand: place: Right hand lowers the orange lego brick onto the top of the stacked lego bricks, adjusting position slightly until the brick is fully supported by the stack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00019", "text": "Right hand: release: Right hand opens its fingers to release the orange lego brick resting securely on the lego stack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00020", "text": "Right hand: retreat: Right hand moves right away from the stacked lego bricks, remaining empty as it withdraws."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00021", "text": "Left hand: return_home: Left hand remains empty, moves upward back to its initial raised home position with slight finger adjustments during the movement. | Right hand: return_home: Right hand remains empty, moves upward back to its initial raised home position with slight finger adjustments during the movement."}], "episode_index": 8}
+{"source_uid": "59432904fdb5cb3c", "num_frames": 1032, "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": 44, "id": "reasoning-language-00001", "text": "Left hand: other:extend_fingers: Left hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand. | Right hand: other:extend_fingers: Right hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand."}, {"label": "valid", "start_step": 0, "end_step": 995, "id": "3ZeVsnyN2yVWcOvemisji"}, {"label": "subtasks", "start_step": 45, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: other:extend_fingers: Right hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand moves downward toward the lego blocks placed on the black table surface, with fingers kept open."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green 2x2 lego block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 180, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions, contact points and wrist orientation to close around the small 2x2 light green lego brick on the dark surface, shifting the brick slightly to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the small 2x2 light green lego brick steadily on the dark surface with no visible movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: release: Right hand opens its fingers to release the light green lego brick on the dark flat surface."}, {"label": "subtasks", "start_step": 315, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand moves empty through the air toward the small blue lego brick, approaching the brick without forming a grip."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand closes its fingers around the small blue lego brick, making small finger adjustments to establish contact with the brick."}, {"label": "subtasks", "start_step": 435, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand makes slight finger adjustments to establish a stable grip on the blue lego brick resting on the dark table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: lift_transport: Right hand lifts the blue lego brick slightly off the dark surface and moves it to position directly above the stacked green lego bricks."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: place: Right hand lowers the blue lego brick onto the top surface of the green lego stack until the blue brick is fully supported by the green bricks."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the blue lego brick steadily on top of the green lego stack without any observable movement of the hand or the brick."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions and wrist orientation to establish a grasp on the stacked light green and blue lego bricks, slightly rotating the bricks to align them on the dark flat supporting surface."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: release_retreat: Right hand opens fingers to release contact with the stacked light green and blue lego bricks, moving slightly away from the bricks to exit the immediate contact area."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand gradually closes fingers to grasp the 2x2 orange lego brick placed on the black surface."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: lift: Right hand moves upward to lift the grasped 2x2 orange lego brick, fully separating it from the black supporting surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: transport_place: Right hand carries the grasped 2x2 orange lego brick to the position above the stacked blue and green lego bricks, moving downward to set the orange brick onto the top surface of the stacked bricks."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a grip on the orange lego brick resting on the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the orange lego brick steadily, the brick stays on the supporting stacked lego bricks with no visible movement of the hand or brick."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand extends the index finger and moves toward the top surface of the stacked orange lego brick, with no contact established with the brick during the movement."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: press: Right hand places the index finger on the top surface of the orange lego brick and presses downward vertically to apply pressure to the brick."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: other:adjust_hand_posture: Left hand stays in the upper left area, rotates the wrist slightly and closes the fingers to adjust to the resting posture while remaining empty. | Right hand: return_home: Right hand moves upward away from the stacked lego blocks with empty hand, returning to its initial upper resting position."}, {"label": "home", "start_step": 996, "end_step": 1031, "id": "vnJhjwocRz-au8SZ6NUWi"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:extend_fingers: Left hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand. | Right hand: other:extend_fingers: Right hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand."}, {"label": "subtasks", "start_step": 45, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: other:extend_fingers: Right hand extends its fingers from the initial straightened closed pose, with no obvious overall displacement of the hand."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand moves downward toward the lego blocks placed on the black table surface, with fingers kept open."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green 2x2 lego block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 180, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions, contact points and wrist orientation to close around the small 2x2 light green lego brick on the dark surface, shifting the brick slightly to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the small 2x2 light green lego brick steadily on the dark surface with no visible movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: release: Right hand opens its fingers to release the light green lego brick on the dark flat surface."}, {"label": "subtasks", "start_step": 315, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand moves empty through the air toward the small blue lego brick, approaching the brick without forming a grip."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand closes its fingers around the small blue lego brick, making small finger adjustments to establish contact with the brick."}, {"label": "subtasks", "start_step": 435, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand makes slight finger adjustments to establish a stable grip on the blue lego brick resting on the dark table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: lift_transport: Right hand lifts the blue lego brick slightly off the dark surface and moves it to position directly above the stacked green lego bricks."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: place: Right hand lowers the blue lego brick onto the top surface of the green lego stack until the blue brick is fully supported by the green bricks."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the blue lego brick steadily on top of the green lego stack without any observable movement of the hand or the brick."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand adjusts finger positions and wrist orientation to establish a grasp on the stacked light green and blue lego bricks, slightly rotating the bricks to align them on the dark flat supporting surface."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: release_retreat: Right hand opens fingers to release contact with the stacked light green and blue lego bricks, moving slightly away from the bricks to exit the immediate contact area."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand gradually closes fingers to grasp the 2x2 orange lego brick placed on the black surface."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: lift: Right hand moves upward to lift the grasped 2x2 orange lego brick, fully separating it from the black supporting surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: transport_place: Right hand carries the grasped 2x2 orange lego brick to the position above the stacked blue and green lego bricks, moving downward to set the orange brick onto the top surface of the stacked bricks."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a grip on the orange lego brick resting on the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: hold: Right hand holds the orange lego brick steadily, the brick stays on the supporting stacked lego bricks with no visible movement of the hand or brick."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: reach: Right hand extends the index finger and moves toward the top surface of the stacked orange lego brick, with no contact established with the brick during the movement."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper area above the black table surface without moving. | Right hand: press: Right hand places the index finger on the top surface of the orange lego brick and presses downward vertically to apply pressure to the brick."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: other:adjust_hand_posture: Left hand stays in the upper left area, rotates the wrist slightly and closes the fingers to adjust to the resting posture while remaining empty. | Right hand: return_home: Right hand moves upward away from the stacked lego blocks with empty hand, returning to its initial upper resting position."}], "episode_index": 9}
+{"source_uid": "20772beaf5be7a70", "num_frames": 1656, "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": 44, "id": "reasoning-language-00001", "text": "Left hand: other:move_slightly_upward: Left hand moves slightly upward while remaining empty. | Right hand: reach: Right hand moves downward toward the orange block on the black table, remaining empty during movement."}, {"label": "valid", "start_step": 0, "end_step": 1611, "id": "Dkhy55zAl3gZkfrq--p7K"}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the orange block on the black table, remaining empty during movement."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the small green building block on the black mat to establish a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the small green building block off the black mat and moves it rightward above the longer green building block."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the small green building block onto the top surface of the longer green building block on the black mat."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the stacked green building blocks on the black tabletop."}, {"label": "subtasks", "start_step": 322, "end_step": 531, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: other:adjust_stacked_blocks_position_alignment: Right hand moves and rotates the stacked green building blocks on the black tabletop to adjust their position and alignment."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand releases the stacked green building blocks, with fingers separating from the blocks."}, {"label": "subtasks", "start_step": 555, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the stacked green building blocks on the black table."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to establish stable grasp on the stacked green building blocks."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the stacked green building blocks and moves them towards the orange building block."}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the stacked green building blocks onto the target position on the table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the stacked green building blocks."}, {"label": "subtasks", "start_step": 990, "end_step": 1071, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue building block on the gray table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: transport: Right hand moves the grasped blue building block leftward toward the green building blocks."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the blue building block with the top of the green building blocks."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: press: Right hand presses the blue building block down onto the green building blocks to secure the connection."}, {"label": "subtasks", "start_step": 1215, "end_step": 1319, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the orange building block on the table."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the orange building block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the orange building block off the table and moves it leftward toward the stacked blue and green building blocks."}, {"label": "subtasks", "start_step": 1418, "end_step": 1521, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the orange building block onto the top of the blue building block, adjusting its position to align properly."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand releases the orange building block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "home", "start_step": 1612, "end_step": 1655, "id": "ao4qqQbzjlryjbJkBOj08"}, {"label": "subtasks", "start_step": 1620, "end_step": 1655, "id": "reasoning-language-00027", "text": "Left hand: return_home: Left hand moves back to its initial home position on the left side and stops. | Right hand: return_home: Right hand moves back to its initial home position on the right side and stops."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:move_slightly_upward: Left hand moves slightly upward while remaining empty. | Right hand: reach: Right hand moves downward toward the orange block on the black table, remaining empty during movement."}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the orange block on the black table, remaining empty during movement."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the small green building block on the black mat to establish a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the small green building block off the black mat and moves it rightward above the longer green building block."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the small green building block onto the top surface of the longer green building block on the black mat."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the stacked green building blocks on the black tabletop."}, {"label": "subtasks", "start_step": 322, "end_step": 531, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: other:adjust_stacked_blocks_position_alignment: Right hand moves and rotates the stacked green building blocks on the black tabletop to adjust their position and alignment."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand releases the stacked green building blocks, with fingers separating from the blocks."}, {"label": "subtasks", "start_step": 555, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the stacked green building blocks on the black table."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to establish stable grasp on the stacked green building blocks."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the stacked green building blocks and moves them towards the orange building block."}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the stacked green building blocks onto the target position on the table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the stacked green building blocks."}, {"label": "subtasks", "start_step": 990, "end_step": 1071, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to grasp the blue building block on the gray table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: transport: Right hand moves the grasped blue building block leftward toward the green building blocks."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the blue building block with the top of the green building blocks."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: press: Right hand presses the blue building block down onto the green building blocks to secure the connection."}, {"label": "subtasks", "start_step": 1215, "end_step": 1319, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the orange building block on the table."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the orange building block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the orange building block off the table and moves it leftward toward the stacked blue and green building blocks."}, {"label": "subtasks", "start_step": 1418, "end_step": 1521, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: place: Right hand places the orange building block onto the top of the blue building block, adjusting its position to align properly."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table. | Right hand: release: Right hand releases the orange building block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the table."}, {"label": "subtasks", "start_step": 1620, "end_step": 1655, "id": "reasoning-language-00027", "text": "Left hand: return_home: Left hand moves back to its initial home position on the left side and stops. | Right hand: return_home: Right hand moves back to its initial home position on the right side and stops."}], "episode_index": 10}
+{"source_uid": "c1cdb3e019a339ae", "num_frames": 958, "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": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_raised_posture: Left hand moves slightly to the raised position at the left side of the dark table, with fingers extending and spreading open. | Right hand: other:adjust_raised_posture: Right hand moves slightly to the raised position at the right side of the dark table, with wrist rotating slightly and fingers extending open."}, {"label": "valid", "start_step": 0, "end_step": 909, "id": "kFEJEA7Pecnf7ubRLizwf"}, {"label": "subtasks", "start_step": 30, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: idle: Right hand remains empty and stationary at the raised position on the right side of the dark table, with fingers slightly spread."}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand moves downward toward the green lego block placed on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand contacts the green lego block on the dark table, fingers closing and making small adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger and wrist positions to form a stable grasp around the small light green block resting on the black work surface."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift_transport: Right hand lifts the small light green block off the black surface and moves it to a position directly above the larger long green block."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: place: Right hand lowers the small light green block until it rests steadily on the upper surface of the larger long green block."}, {"label": "subtasks", "start_step": 232, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press: Right hand applies downward pressure on the small light green block with small finger adjustments to secure it to the larger long green block."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: release: Right hand releases contact with the green lego block, fingers opening and moving away from the green block surface."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift_transport: Right hand lifts the held blue lego block upward off the dark surface behind the green block, moving the block through air to the position above the target placement spot."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: place: Right hand lowers the blue lego block vertically down to the dark surface at the upper right of the green block, until the block rests stably on the surface and is fully supported."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand makes small, continuous adjustments to finger positions on the blue lego block, repositioning contact points to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger positions to grasp the blue Lego block, moving the block horizontally to position it above the adjacent green Lego block on the dark gray work surface."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press_release: Right hand presses the blue Lego block downward against the green Lego block with minor wrist and finger alignment adjustments, opens fingers to release the block and lifts slightly upward away from the block."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: release: Right hand opens its fingers to release the stacked blue and green building blocks resting on the dark gray surface."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand moves empty across the dark gray surface toward the small orange building block, approaching the target block."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand closes its fingers around the small orange building block, making small contact adjustments to establish a grasp on the block."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the orange building block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift: Right hand lifts the grasped orange building block upward until it is fully separated from the dark supporting surface."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: transport_place: Right hand moves the grasped orange building block to position above the green building block and lowers it to rest on the green building block."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: mate: Right hand adjusts the position of the orange building block to align its connecting points with the studs on the green building block."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: hold: Right hand holds the aligned orange building block on top of the green building block without observable movement."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand extends its index finger and moves it downward toward the top surface of the orange block, with no contact established."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press: Right hand presses its extended index finger against the top surface of the orange block, applying downward vertical pressure."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: return_home: Right hand lifts its index finger away from the orange block, moves backward to the right-side home position, adjusts its fingers to the upright thumb-up pose and stops."}, {"label": "home", "start_step": 910, "end_step": 957, "id": "29A2Us_joDFrXJAOuemgo"}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: other:adjust_hand_to_thumb_up_pose: Left hand rotates its wrist approximately 90 degrees upward and adjusts finger positions to form the upright thumb-up pose, with no obvious overall position shift. | Right hand: return_home: Right hand lifts its index finger away from the orange block, moves backward to the right-side home position, adjusts its fingers to the upright thumb-up pose and stops."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_raised_posture: Left hand moves slightly to the raised position at the left side of the dark table, with fingers extending and spreading open. | Right hand: other:adjust_raised_posture: Right hand moves slightly to the raised position at the right side of the dark table, with wrist rotating slightly and fingers extending open."}, {"label": "subtasks", "start_step": 30, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: idle: Right hand remains empty and stationary at the raised position on the right side of the dark table, with fingers slightly spread."}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand moves downward toward the green lego block placed on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand contacts the green lego block on the dark table, fingers closing and making small adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger and wrist positions to form a stable grasp around the small light green block resting on the black work surface."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift_transport: Right hand lifts the small light green block off the black surface and moves it to a position directly above the larger long green block."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: place: Right hand lowers the small light green block until it rests steadily on the upper surface of the larger long green block."}, {"label": "subtasks", "start_step": 232, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press: Right hand applies downward pressure on the small light green block with small finger adjustments to secure it to the larger long green block."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: release: Right hand releases contact with the green lego block, fingers opening and moving away from the green block surface."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift_transport: Right hand lifts the held blue lego block upward off the dark surface behind the green block, moving the block through air to the position above the target placement spot."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: place: Right hand lowers the blue lego block vertically down to the dark surface at the upper right of the green block, until the block rests stably on the surface and is fully supported."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand makes small, continuous adjustments to finger positions on the blue lego block, repositioning contact points to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger positions to grasp the blue Lego block, moving the block horizontally to position it above the adjacent green Lego block on the dark gray work surface."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press_release: Right hand presses the blue Lego block downward against the green Lego block with minor wrist and finger alignment adjustments, opens fingers to release the block and lifts slightly upward away from the block."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: release: Right hand opens its fingers to release the stacked blue and green building blocks resting on the dark gray surface."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand moves empty across the dark gray surface toward the small orange building block, approaching the target block."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand closes its fingers around the small orange building block, making small contact adjustments to establish a grasp on the block."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the orange building block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: lift: Right hand lifts the grasped orange building block upward until it is fully separated from the dark supporting surface."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: transport_place: Right hand moves the grasped orange building block to position above the green building block and lowers it to rest on the green building block."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: mate: Right hand adjusts the position of the orange building block to align its connecting points with the studs on the green building block."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: hold: Right hand holds the aligned orange building block on top of the green building block without observable movement."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: reach: Right hand extends its index finger and moves it downward toward the top surface of the orange block, with no contact established."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: press: Right hand presses its extended index finger against the top surface of the orange block, applying downward vertical pressure."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the raised position on the left side of the dark table, with fingers slightly spread. | Right hand: return_home: Right hand lifts its index finger away from the orange block, moves backward to the right-side home position, adjusts its fingers to the upright thumb-up pose and stops."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: other:adjust_hand_to_thumb_up_pose: Left hand rotates its wrist approximately 90 degrees upward and adjusts finger positions to form the upright thumb-up pose, with no obvious overall position shift. | Right hand: return_home: Right hand lifts its index finger away from the orange block, moves backward to the right-side home position, adjusts its fingers to the upright thumb-up pose and stops."}], "episode_index": 11}
+{"source_uid": "34c8440eabba4902", "num_frames": 1230, "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:extend_index_middle_fingers_upward: Left hand moves slightly upward while extending and spreading its index and middle fingers. | Right hand: other:extend_index_middle_fingers_upward: Right hand moves slightly upward while extending and spreading its index and middle fingers."}, {"label": "valid", "start_step": 0, "end_step": 1189, "id": "D4HEuZzyXDV_k_7sDLYVJ"}, {"label": "subtasks", "start_step": 38, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: other:extend_index_middle_fingers_upward: Right hand moves slightly upward while extending and spreading its index and middle fingers."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves downward and leftward toward the small green block on the table, with fingers held open."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green block, closing fingers to form a grasp on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table surface, moving the block slightly upward and leftward while holding it."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: place_release: Right hand lowers the small green block back onto the table surface, opening fingers to release the block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves leftward back toward the small green block on the table while empty."}, {"label": "subtasks", "start_step": 202, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts fingers around the small green block again, attempting to establish a stable grasp."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release_retreat: Right hand opens fingers to release the small green block, moving upward and rightward away from the block while empty."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves leftward toward the small green block again while empty, until fingers contact the block."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green block, closing fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes fingers around the small green 1x1 lego block on the dark flat surface, making slight finger adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand moves the grasped small green lego block to align it with the larger green lego block below, adjusting position to fit the small block onto the upper surface of the larger block."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand opens its fingers to release the small green lego block resting on the larger lego block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves away from the stacked green blocks toward the blue 2x2 lego block, with fingers held slightly open during the movement."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand positions fingers around the blue 2x2 lego block, closes and adjusts fingers to establish a stable grasp while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes its fingers to establish a firm grip on the blue 2x2 lego block resting on the dark flat work surface."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift_transport: Right hand lifts the blue 2x2 lego block completely off the dark surface and moves it to a position directly above the adjacent green lego block."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reorient: Right hand rotates the gripped blue lego block slightly to adjust its orientation while positioned above the green lego block."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand lowers the blue lego block to align and press it into contact with the top surface of the green lego block."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: hold: Right hand holds the mated blue lego block on top of the green lego block without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand opens its fingers to release the grip on the blue lego block, separating the hand from the block."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves empty away from the stacked blue and green block toward the small orange 1x1 block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes fingers around the small orange 1x1 block, making small adjustments to establish a stable grip while the block remains on the dark flat surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift: Right hand lifts the grasped small orange 1x1 block upward until it is fully raised off the dark flat surface."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: transport: Right hand moves the held small orange 1x1 block leftward across the space to position it above the stacked blue and green block."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand aligns the held small orange 1x1 block directly above the stacked blue and green block to position it for attachment."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand adjusts the small orange lego block with fine finger movements, making slight positional and rotational adjustments to align its connecting studs with the green lego block underneath."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: hold: Right hand holds the aligned small orange lego block steady on the green lego block without any movement of the hand or block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand lifts its fingers upward off the small orange lego block, releasing contact with the block."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: return_home: Left hand moves empty backward from its extended left forward position to return to the front home position, with fingers gradually closing into a relaxed posture. | Right hand: release: Right hand opens its fingers to release the orange lego block resting on the stacked green lego block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00035", "text": "Left hand: return_home: Left hand moves empty backward from its extended left forward position to return to the front home position, with fingers gradually closing into a relaxed posture. | Right hand: return_home: Right hand moves empty upward and backward to return to the front home position, with fingers gradually closing into a relaxed posture."}, {"label": "home", "start_step": 1190, "end_step": 1229, "id": "_JKcQT40YyvnhXpU35E5S"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:extend_index_middle_fingers_upward: Left hand moves slightly upward while extending and spreading its index and middle fingers. | Right hand: other:extend_index_middle_fingers_upward: Right hand moves slightly upward while extending and spreading its index and middle fingers."}, {"label": "subtasks", "start_step": 38, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: other:extend_index_middle_fingers_upward: Right hand moves slightly upward while extending and spreading its index and middle fingers."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves downward and leftward toward the small green block on the table, with fingers held open."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green block, closing fingers to form a grasp on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table surface, moving the block slightly upward and leftward while holding it."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: place_release: Right hand lowers the small green block back onto the table surface, opening fingers to release the block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves leftward back toward the small green block on the table while empty."}, {"label": "subtasks", "start_step": 202, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts fingers around the small green block again, attempting to establish a stable grasp."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release_retreat: Right hand opens fingers to release the small green block, moving upward and rightward away from the block while empty."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves leftward toward the small green block again while empty, until fingers contact the block."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand adjusts finger positions around the small green block, closing fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes fingers around the small green 1x1 lego block on the dark flat surface, making slight finger adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand moves the grasped small green lego block to align it with the larger green lego block below, adjusting position to fit the small block onto the upper surface of the larger block."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand opens its fingers to release the small green lego block resting on the larger lego block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves away from the stacked green blocks toward the blue 2x2 lego block, with fingers held slightly open during the movement."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand positions fingers around the blue 2x2 lego block, closes and adjusts fingers to establish a stable grasp while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes its fingers to establish a firm grip on the blue 2x2 lego block resting on the dark flat work surface."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift_transport: Right hand lifts the blue 2x2 lego block completely off the dark surface and moves it to a position directly above the adjacent green lego block."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reorient: Right hand rotates the gripped blue lego block slightly to adjust its orientation while positioned above the green lego block."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand lowers the blue lego block to align and press it into contact with the top surface of the green lego block."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: hold: Right hand holds the mated blue lego block on top of the green lego block without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand opens its fingers to release the grip on the blue lego block, separating the hand from the block."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: reach: Right hand moves empty away from the stacked blue and green block toward the small orange 1x1 block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: grasp: Right hand closes fingers around the small orange 1x1 block, making small adjustments to establish a stable grip while the block remains on the dark flat surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: lift: Right hand lifts the grasped small orange 1x1 block upward until it is fully raised off the dark flat surface."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: transport: Right hand moves the held small orange 1x1 block leftward across the space to position it above the stacked blue and green block."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand aligns the held small orange 1x1 block directly above the stacked blue and green block to position it for attachment."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: mate: Right hand adjusts the small orange lego block with fine finger movements, making slight positional and rotational adjustments to align its connecting studs with the green lego block underneath."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: hold: Right hand holds the aligned small orange lego block steady on the green lego block without any movement of the hand or block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty with its index and middle fingers extended above the left table area without moving. | Right hand: release: Right hand lifts its fingers upward off the small orange lego block, releasing contact with the block."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: return_home: Left hand moves empty backward from its extended left forward position to return to the front home position, with fingers gradually closing into a relaxed posture. | Right hand: release: Right hand opens its fingers to release the orange lego block resting on the stacked green lego block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00035", "text": "Left hand: return_home: Left hand moves empty backward from its extended left forward position to return to the front home position, with fingers gradually closing into a relaxed posture. | Right hand: return_home: Right hand moves empty upward and backward to return to the front home position, with fingers gradually closing into a relaxed posture."}], "episode_index": 12}
+{"source_uid": "d00f76f2b3b51ae4", "num_frames": 1796, "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": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts finger posture and wrist orientation at the left upper area of the black table. | Right hand: reach: Right hand moves toward the small green block on the black table until fingers touch the block."}, {"label": "valid", "start_step": 0, "end_step": 1753, "id": "ZLQd4Mruv_NFw4xJrR-Ei"}, {"label": "subtasks", "start_step": 22, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the small green block on the black table until fingers touch the block."}, {"label": "subtasks", "start_step": 120, "end_step": 291, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reorient: Right hand rotates the small green block slightly on the black surface to adjust its orientation."}, {"label": "subtasks", "start_step": 292, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the small green block and moves upward away from the block."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves towards the small green block placed on the black surface."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the small green block."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the small green block off the black surface and moves it right towards the larger green block."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small green block."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the small green block off the supporting surface and transports it above the larger light green block."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand lowers the small green block onto the top surface of the larger light green block."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the small green block down to secure it attached to the larger light green block."}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts its grip on the green block placed on the dark table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: hold: Right hand holds the green block on the table without moving."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the blue block on the table."}, {"label": "subtasks", "start_step": 840, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand closes its fingers to grasp the blue block on the dark surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift: Right hand lifts the blue block upward away from the dark surface."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: transport: Right hand transports the blue block horizontally to the position above the small green block."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand lowers the blue block onto the top surface of the small green block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1101, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the blue block downward to attach it firmly to the green block."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release_retreat: Right hand releases the blue block and retreats slightly away from the assembled blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the orange block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts fingers to close and form a stable grip on the orange block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the orange block off the table and moves it toward the green block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: transport: Right hand transports the orange block towards the top of the blue block."}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand places the orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1627, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand repeatedly presses the orange block down against the blue block."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the orange block and separates from the block."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: retreat: Right hand retreats away from the stacked blocks."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the blue building block on top of the stacked blocks on the table."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: retreat: Right hand moves backward away from the stacked building blocks toward its initial position."}, {"label": "subtasks", "start_step": 1740, "end_step": 1795, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table."}, {"label": "home", "start_step": 1754, "end_step": 1795, "id": "7djpYa4CjWnWd_IyKtGOl"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts finger posture and wrist orientation at the left upper area of the black table. | Right hand: reach: Right hand moves toward the small green block on the black table until fingers touch the block."}, {"label": "subtasks", "start_step": 22, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the small green block on the black table until fingers touch the block."}, {"label": "subtasks", "start_step": 120, "end_step": 291, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reorient: Right hand rotates the small green block slightly on the black surface to adjust its orientation."}, {"label": "subtasks", "start_step": 292, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the small green block and moves upward away from the block."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves towards the small green block placed on the black surface."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the small green block."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the small green block off the black surface and moves it right towards the larger green block."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small green block."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the small green block off the supporting surface and transports it above the larger light green block."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand lowers the small green block onto the top surface of the larger light green block."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the small green block down to secure it attached to the larger light green block."}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts its grip on the green block placed on the dark table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: hold: Right hand holds the green block on the table without moving."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the blue block on the table."}, {"label": "subtasks", "start_step": 840, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand closes its fingers to grasp the blue block on the dark surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift: Right hand lifts the blue block upward away from the dark surface."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: transport: Right hand transports the blue block horizontally to the position above the small green block."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand lowers the blue block onto the top surface of the small green block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1101, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the blue block downward to attach it firmly to the green block."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release_retreat: Right hand releases the blue block and retreats slightly away from the assembled blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: reach: Right hand moves toward the orange block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: grasp: Right hand adjusts fingers to close and form a stable grip on the orange block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: lift_transport: Right hand lifts the orange block off the table and moves it toward the green block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: transport: Right hand transports the orange block towards the top of the blue block."}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: place: Right hand places the orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1627, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand repeatedly presses the orange block down against the blue block."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: release: Right hand releases the orange block and separates from the block."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: retreat: Right hand retreats away from the stacked blocks."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: press: Right hand presses the blue building block on top of the stacked blocks on the table."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table. | Right hand: retreat: Right hand moves backward away from the stacked building blocks toward its initial position."}, {"label": "subtasks", "start_step": 1740, "end_step": 1795, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper area of the black table."}], "episode_index": 13}
+{"source_uid": "a9813520a54fda12", "num_frames": 2206, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: idle: Right hand remains empty at the upper right initial position without obvious displacement."}, {"label": "valid", "start_step": 0, "end_step": 2160, "id": "gpVEyA8MduV2T9y9_rVEY"}, {"label": "subtasks", "start_step": 60, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: reach: Right hand moves downward toward the small green 2x2 block on the table, with fingers slightly extended, approaching the block without stable contact."}, {"label": "subtasks", "start_step": 128, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the small green 2x2 block to form a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: lift: Right hand holds the grasped small green 2x2 block and moves upward, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "id": "reasoning-language-00005", "text": "Left hand: reach: Left hand moves downward and rightward with slightly open fingers to approach the small green block held by the right hand. | Right hand: lift_transport: Right hand lifts the small green block off the dark supporting surface and moves it leftward toward the approaching left hand."}, {"label": "subtasks", "start_step": 338, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: reach: Left hand moves downward and rightward with slightly open fingers to approach the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 382, "end_step": 479, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand contacts the small green block and adjusts its fingers to close around the block to establish a grasp. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand grips the small green block and moves it downward toward the long green block placed on the dark table surface. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 555, "end_step": 651, "id": "reasoning-language-00009", "text": "Left hand: place_release: Left hand lowers the small green block onto the dark table surface next to the long green block, releases its grip as the block rests stably on the surface. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: retreat: Empty left hand moves upward, retreating from the position of the placed small green block. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves downward toward the small loose green block on the dark surface, with fingers slightly spread, without contacting the block."}, {"label": "subtasks", "start_step": 712, "end_step": 787, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small loose green block on the dark surface, adjusting finger contact positions to establish a stable grasp, while the block remains resting on the supporting surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand moves upward while holding the small green block, lifting the block completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand moves upward and slightly toward the center of the workspace while holding the lifted small green block, transporting the block through the air above the surface."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the held small green block, separating from the block which falls onto the dark supporting surface."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves downward toward the small green block resting on the lower right table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 930, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small green block on the lower right table, making small adjustments to finger positions to establish a firm grip while the block stays in contact with the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped small green block off the table surface and moves it leftward to a position directly above the long green block at the center of the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place: Right hand lowers the small green block until it rests on the top surface of the long green block, supported by the block below."}, {"label": "subtasks", "start_step": 1088, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand makes small positional adjustments to the small green block to align its connecting features with the long green block for assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1304, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press: Right hand presses vertically downward on the top surface of the small green block to secure it to the long green block below."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves empty toward the small blue lego block resting on the dark gray surface, approaching the target to prepare for grasping."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small blue lego block, making slight adjustments to finger contact points to form a stable grasp while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped small blue lego block upward, fully detaching it from the dark gray supporting surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reorient: Right hand rotates the wrist to flip the grasped blue lego block approximately 180 degrees, turning the studded face upward with minimal change to the block's horizontal position."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place: Right hand moves downward to place the flipped blue lego block back onto the dark gray surface, with the block fully supported by the surface at the end of the segment while the hand still holds it."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand makes slight adjustments to finger positions and pressure on the blue lego block to re-stabilize the grasp, with visible small movements of the fingers and wrist."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped blue lego block upward again, fully lifting it off the dark gray surface to prepare for relocation."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the grasped blue lego block through the air, moving downward toward the upright green lego block positioned below the blue block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand aligns the bottom of the blue lego block with the top studs of the green lego block, positioning the two blocks to engage in assembly."}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press_release: Right hand applies downward pressure on the blue lego block to press it firmly onto the green lego block to complete assembly, opens fingers to release the block and separate from it."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves toward the small orange lego block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small orange lego block, making small adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped small orange lego block completely off the dark work surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted orange lego block a short distance toward the stacked two-block lego tower."}, {"label": "subtasks", "start_step": 1852, "end_step": 1867, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place_release: Right hand lowers the orange lego block onto the dark work surface, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand adjusts its position and moves fingers toward the resting orange lego block to re-establish a grip."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the orange lego block, making small adjustments to secure a stable grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the re-grasped orange lego block fully off the dark work surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted orange lego block directly over the top surface of the blue lego block on the stack."}, {"label": "subtasks", "start_step": 1980, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand aligns the orange lego block with the connecting studs on the top of the blue lego block, positioning it to fit onto the stack."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press: Right hand applies downward vertical pressure on the top surface of the orange lego block to secure it to the lego stack below."}, {"label": "subtasks", "start_step": 2130, "end_step": 2204, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects."}, {"label": "home", "start_step": 2161, "end_step": 2205, "id": "nxoem9M_wwEWHlmbuMuWr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: idle: Right hand remains empty at the upper right initial position without obvious displacement."}, {"label": "subtasks", "start_step": 60, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: reach: Right hand moves downward toward the small green 2x2 block on the table, with fingers slightly extended, approaching the block without stable contact."}, {"label": "subtasks", "start_step": 128, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the small green 2x2 block to form a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving, with no contact to any objects on the table. | Right hand: lift: Right hand holds the grasped small green 2x2 block and moves upward, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "id": "reasoning-language-00005", "text": "Left hand: reach: Left hand moves downward and rightward with slightly open fingers to approach the small green block held by the right hand. | Right hand: lift_transport: Right hand lifts the small green block off the dark supporting surface and moves it leftward toward the approaching left hand."}, {"label": "subtasks", "start_step": 338, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: reach: Left hand moves downward and rightward with slightly open fingers to approach the small green block held by the right hand. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 382, "end_step": 479, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand contacts the small green block and adjusts its fingers to close around the block to establish a grasp. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand grips the small green block and moves it downward toward the long green block placed on the dark table surface. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 555, "end_step": 651, "id": "reasoning-language-00009", "text": "Left hand: place_release: Left hand lowers the small green block onto the dark table surface next to the long green block, releases its grip as the block rests stably on the surface. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: retreat: Empty left hand moves upward, retreating from the position of the placed small green block. | Right hand: hold: Right hand holds the small green block stationary in midair while the left hand contacts the block."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves downward toward the small loose green block on the dark surface, with fingers slightly spread, without contacting the block."}, {"label": "subtasks", "start_step": 712, "end_step": 787, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small loose green block on the dark surface, adjusting finger contact positions to establish a stable grasp, while the block remains resting on the supporting surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand moves upward while holding the small green block, lifting the block completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand moves upward and slightly toward the center of the workspace while holding the lifted small green block, transporting the block through the air above the surface."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the held small green block, separating from the block which falls onto the dark supporting surface."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves downward toward the small green block resting on the lower right table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 930, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small green block on the lower right table, making small adjustments to finger positions to establish a firm grip while the block stays in contact with the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped small green block off the table surface and moves it leftward to a position directly above the long green block at the center of the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place: Right hand lowers the small green block until it rests on the top surface of the long green block, supported by the block below."}, {"label": "subtasks", "start_step": 1088, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand makes small positional adjustments to the small green block to align its connecting features with the long green block for assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1304, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press: Right hand presses vertically downward on the top surface of the small green block to secure it to the long green block below."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves empty toward the small blue lego block resting on the dark gray surface, approaching the target to prepare for grasping."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small blue lego block, making slight adjustments to finger contact points to form a stable grasp while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped small blue lego block upward, fully detaching it from the dark gray supporting surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reorient: Right hand rotates the wrist to flip the grasped blue lego block approximately 180 degrees, turning the studded face upward with minimal change to the block's horizontal position."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place: Right hand moves downward to place the flipped blue lego block back onto the dark gray surface, with the block fully supported by the surface at the end of the segment while the hand still holds it."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand makes slight adjustments to finger positions and pressure on the blue lego block to re-stabilize the grasp, with visible small movements of the fingers and wrist."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped blue lego block upward again, fully lifting it off the dark gray surface to prepare for relocation."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the grasped blue lego block through the air, moving downward toward the upright green lego block positioned below the blue block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand aligns the bottom of the blue lego block with the top studs of the green lego block, positioning the two blocks to engage in assembly."}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press_release: Right hand applies downward pressure on the blue lego block to press it firmly onto the green lego block to complete assembly, opens fingers to release the block and separate from it."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand moves toward the small orange lego block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small orange lego block, making small adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped small orange lego block completely off the dark work surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted orange lego block a short distance toward the stacked two-block lego tower."}, {"label": "subtasks", "start_step": 1852, "end_step": 1867, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: place_release: Right hand lowers the orange lego block onto the dark work surface, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: reach: Right hand adjusts its position and moves fingers toward the resting orange lego block to re-establish a grip."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the orange lego block, making small adjustments to secure a stable grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: lift: Right hand lifts the re-grasped orange lego block fully off the dark work surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted orange lego block directly over the top surface of the blue lego block on the stack."}, {"label": "subtasks", "start_step": 1980, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: mate: Right hand aligns the orange lego block with the connecting studs on the top of the blue lego block, positioning it to fit onto the stack."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects. | Right hand: press: Right hand applies downward vertical pressure on the top surface of the orange lego block to secure it to the lego stack below."}, {"label": "subtasks", "start_step": 2130, "end_step": 2204, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the dark workspace without any observable movement or contact with operated objects."}], "episode_index": 14}
+{"source_uid": "a5b1cd69b4381f77", "num_frames": 2547, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_fingers_to_extended_pose: Left hand moves slightly upward at the left side of the table while adjusting its fingers to a fully extended open pose, without holding any object. | Right hand: other:adjust_fingers_to_pre_reach_pose: Right hand moves slightly upward at the right side of the table while adjusting its fingers to a slightly flexed pre-reach pose, without holding any object."}, {"label": "valid", "start_step": 0, "end_step": 2510, "id": "pKr--XiUryjVOsmsZiVpe"}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: other:adjust_fingers_to_pre_reach_pose: Right hand moves slightly upward at the right side of the table while adjusting its fingers to a slightly flexed pre-reach pose, without holding any object."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green block placed on the central table surface, remaining empty and not yet in contact with the block."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the small 2x2 green block, adjusting finger contact positions to form a stable grasp while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped small 2x2 green block vertically upward, separating the block completely from the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the grasped small 2x2 green block downward to position it directly above the larger 2x4 green block on the table."}, {"label": "subtasks", "start_step": 248, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the small 2x2 green block with the connection studs on the larger 2x4 green block, adjusting position and applying downward pressure to fit the two blocks together."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand gradually opens its fingers to release the assembled small green block, with fingers remaining in partial contact with the block at the end of the interval."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: push: Right hand contacts the green block on the dark table surface, pushing the block away to make it slide across the table."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty toward the small blue block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 465, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the small blue block, adjusting finger positions to form a stable grip on the block resting on the table."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped blue block upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted blue block through the air to a position above the table next to the displaced green block."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the blue block down to the table surface until the block is fully supported by the table."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions on the placed blue block slightly to stabilize the grip for subsequent movement."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the grasped blue block across the table to position it adjacent to the green block."}, {"label": "subtasks", "start_step": 750, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the blue block with the green block, pressing the blocks together to fit them into an assembled state."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens fingers to release the assembled blue block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty away from the assembled blocks toward the right side of the workspace."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small orange lego block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the orange lego block to form a stable grip, while the block remains resting on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped orange lego block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted orange lego block leftward to position it directly above the stacked green and blue lego blocks."}, {"label": "subtasks", "start_step": 1050, "end_step": 1177, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand adjusts the orientation of the orange lego block, aligning its connecting studs with the top of the stacked blocks to attempt assembly."}, {"label": "subtasks", "start_step": 1178, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the orange lego block, which drops onto the table adjacent to the stacked blocks."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand repositions its fingers around the orange lego block on the table, making slight adjustments to establish a new stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the re-grasped orange lego block upward until it is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the orange lego block rightward across the table to the area above its original resting position."}, {"label": "subtasks", "start_step": 1402, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the orange lego block downward until the block rests steadily on the dark table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to fully release contact with the orange lego block supported by the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small orange block on the dark table surface, remaining empty with no contact to the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1897, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the orange block, adjusting finger positions repeatedly while slightly rotating and shifting the block on the table surface to form a stable grip."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand holds the orange block and lifts it upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted orange block, moving it horizontally left toward the stacked blue and green blocks."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the orange block to rest stably on the table surface, fingers opening to release contact with the settled block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2151, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach_grasp: Right hand moves slightly to re-contact the orange block on the table, adjusting finger positions while slightly shifting the block to re-establish a stable grip."}, {"label": "subtasks", "start_step": 2152, "end_step": 2234, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the orange block on the table surface without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts and closes fingers around the orange block resting on the dark table to form a stable grasp."}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange block completely off the table surface and moves it over the adjacent stacked green and blue block."}, {"label": "subtasks", "start_step": 2280, "end_step": 2324, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand lowers the orange block to align with the connection points on top of the green and blue block, pressing slightly to fit the two blocks together."}, {"label": "subtasks", "start_step": 2325, "end_step": 2467, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the fully assembled stack of blocks on the table surface without any observable movement of the hand or blocks."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release contact with the top orange block, separating the hand from the assembled block stack."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the stacked colorful blocks resting on the dark table, losing contact with the blocks."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves upward and rightward with empty hand, retreating away from the stacked blocks on the table."}, {"label": "home", "start_step": 2511, "end_step": 2546, "id": "kpt_z_Ae9_BI1HwHvjtXV"}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00045", "text": "Left hand: retreat: Left hand moves upward and backward with empty hand, retreating from the previous outstretched left position. | Right hand: retreat: Right hand moves upward and rightward with empty hand, retreating away from the stacked blocks on the table."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_fingers_to_extended_pose: Left hand moves slightly upward at the left side of the table while adjusting its fingers to a fully extended open pose, without holding any object. | Right hand: other:adjust_fingers_to_pre_reach_pose: Right hand moves slightly upward at the right side of the table while adjusting its fingers to a slightly flexed pre-reach pose, without holding any object."}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: other:adjust_fingers_to_pre_reach_pose: Right hand moves slightly upward at the right side of the table while adjusting its fingers to a slightly flexed pre-reach pose, without holding any object."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green block placed on the central table surface, remaining empty and not yet in contact with the block."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the small 2x2 green block, adjusting finger contact positions to form a stable grasp while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped small 2x2 green block vertically upward, separating the block completely from the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the grasped small 2x2 green block downward to position it directly above the larger 2x4 green block on the table."}, {"label": "subtasks", "start_step": 248, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the small 2x2 green block with the connection studs on the larger 2x4 green block, adjusting position and applying downward pressure to fit the two blocks together."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand gradually opens its fingers to release the assembled small green block, with fingers remaining in partial contact with the block at the end of the interval."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: push: Right hand contacts the green block on the dark table surface, pushing the block away to make it slide across the table."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty toward the small blue block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 465, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the small blue block, adjusting finger positions to form a stable grip on the block resting on the table."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped blue block upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted blue block through the air to a position above the table next to the displaced green block."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the blue block down to the table surface until the block is fully supported by the table."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions on the placed blue block slightly to stabilize the grip for subsequent movement."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the grasped blue block across the table to position it adjacent to the green block."}, {"label": "subtasks", "start_step": 750, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the blue block with the green block, pressing the blocks together to fit them into an assembled state."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens fingers to release the assembled blue block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty away from the assembled blocks toward the right side of the workspace."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small orange lego block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the orange lego block to form a stable grip, while the block remains resting on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped orange lego block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted orange lego block leftward to position it directly above the stacked green and blue lego blocks."}, {"label": "subtasks", "start_step": 1050, "end_step": 1177, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand adjusts the orientation of the orange lego block, aligning its connecting studs with the top of the stacked blocks to attempt assembly."}, {"label": "subtasks", "start_step": 1178, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the orange lego block, which drops onto the table adjacent to the stacked blocks."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand repositions its fingers around the orange lego block on the table, making slight adjustments to establish a new stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand lifts the re-grasped orange lego block upward until it is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the orange lego block rightward across the table to the area above its original resting position."}, {"label": "subtasks", "start_step": 1402, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the orange lego block downward until the block rests steadily on the dark table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to fully release contact with the orange lego block supported by the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the small orange block on the dark table surface, remaining empty with no contact to the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1897, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the orange block, adjusting finger positions repeatedly while slightly rotating and shifting the block on the table surface to form a stable grip."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift: Right hand holds the orange block and lifts it upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted orange block, moving it horizontally left toward the stacked blue and green blocks."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the orange block to rest stably on the table surface, fingers opening to release contact with the settled block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2151, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: reach_grasp: Right hand moves slightly to re-contact the orange block on the table, adjusting finger positions while slightly shifting the block to re-establish a stable grip."}, {"label": "subtasks", "start_step": 2152, "end_step": 2234, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the orange block on the table surface without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts and closes fingers around the orange block resting on the dark table to form a stable grasp."}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange block completely off the table surface and moves it over the adjacent stacked green and blue block."}, {"label": "subtasks", "start_step": 2280, "end_step": 2324, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: mate: Right hand lowers the orange block to align with the connection points on top of the green and blue block, pressing slightly to fit the two blocks together."}, {"label": "subtasks", "start_step": 2325, "end_step": 2467, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the fully assembled stack of blocks on the table surface without any observable movement of the hand or blocks."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release contact with the top orange block, separating the hand from the assembled block stack."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the stacked colorful blocks resting on the dark table, losing contact with the blocks."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary in the fully extended open pose at the upper left area above the table, with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves upward and rightward with empty hand, retreating away from the stacked blocks on the table."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00045", "text": "Left hand: retreat: Left hand moves upward and backward with empty hand, retreating from the previous outstretched left position. | Right hand: retreat: Right hand moves upward and rightward with empty hand, retreating away from the stacked blocks on the table."}], "episode_index": 15}
+{"source_uid": "954aea526dcb9d38", "num_frames": 1352, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "S", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward from the right side of the table toward the small green block without contacting any object."}, {"label": "valid", "start_step": 0, "end_step": 1308, "id": "SD98I8KyOSwByvtLFOYuF"}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the small green block on the black tabletop to establish stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 329, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00004", "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 off the black table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00005", "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 rightward above the longer green block."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00006", "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 onto the longer green block."}, {"label": "subtasks", "start_step": 405, "end_step": 644, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the blue block on the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "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 grasps the blue block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the dark gray surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "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 from the dark gray surface and transports it above the small green block."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "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 onto the top of the small green block."}, {"label": "subtasks", "start_step": 810, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the small green block to secure the assembly."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the blue block and separates from it."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the orange block on the black table surface without touching the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the orange block and adjusts fingers to form a stable grip on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table surface and transports it to above the blue block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the top of the blue block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1259, "id": "reasoning-language-00019", "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 to attach it firmly to the blue block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the orange block and moves fingers away from the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1351, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "home", "start_step": 1309, "end_step": 1351, "id": "OyJmg3hX2RrlfvcsuIXmy"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward from the right side of the table toward the small green block without contacting any object."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the small green block on the black tabletop to establish stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 329, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00004", "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 off the black table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00005", "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 rightward above the longer green block."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00006", "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 onto the longer green block."}, {"label": "subtasks", "start_step": 405, "end_step": 644, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the blue block on the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "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 grasps the blue block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the dark gray surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "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 from the dark gray surface and transports it above the small green block."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "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 onto the top of the small green block."}, {"label": "subtasks", "start_step": 810, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the small green block to secure the assembly."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the blue block and separates from it."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the orange block on the black table surface without touching the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the orange block and adjusts fingers to form a stable grip on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table surface and transports it to above the blue block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the top of the blue block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1259, "id": "reasoning-language-00019", "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 to attach it firmly to the blue block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the orange block and moves fingers away from the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1351, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}], "episode_index": 16}
+{"source_uid": "d36620069b8d16f1", "num_frames": 1516, "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": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: idle: Right hand remains empty and stationary at the right upper side of the workspace, not yet moving toward the small green 2x2 lego brick."}, {"label": "valid", "start_step": 0, "end_step": 1475, "id": "3EI2xk0CWK76hyvs91VZd"}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves downward with slightly open fingers, approaching the small green 2x2 lego brick placed on the black table surface, without making contact with the brick."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand positions fingers around the small green 2x2 lego brick, adjusting finger placement to initiate contact and prepare for grasping the brick, which remains on the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand moves its fingers around the small green lego brick on the dark surface, closing and adjusting finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand moves upward to lift the securely grasped small green lego brick completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand carries the lifted small green lego brick horizontally toward the larger green lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: place: Right hand lowers the small green lego brick downward until it rests on the top surface of the larger green lego brick."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate: Right hand adjusts the position and orientation of the small green lego brick to align it with the larger green lego brick, applying light downward pressure to seat the bricks together."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: release: Right hand opens its fingers to release its grip on the aligned small green lego brick."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves from the position near the green lego base toward the adjacent small blue 2x2 lego block, with fingers slightly open and not yet in contact with the blue block."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand contacts the small blue 2x2 lego block, gradually closing fingers and adjusting contact positions to establish a stable grasp while the block remains on the dark supporting surface."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table."}, {"label": "subtasks", "start_step": 555, "end_step": 561, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes fingers around the small blue lego brick on the dark table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand raises the grasped small blue lego brick upward until the brick is fully separated from the table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand carries the grasped small blue lego brick horizontally to position it directly above the small green lego brick."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate_release: Right hand aligns the small blue lego brick with connection points on the green lego brick, presses down to attach the two bricks together, opening fingers to release the blue brick."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: idle: Right hand remains empty adjacent to the stacked lego bricks without any observable movement."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves empty from the area near the stacked blue and green bricks toward the small orange 2x2 brick on the dark flat surface, with fingers extended to approach the target."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes fingers around the small orange 2x2 brick, adjusting finger contact to form a stable grip while the brick remains resting on the dark surface."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: hold: Right hand holds the small orange 2x2 brick steadily on the dark flat surface, with no observable movement of the hand, fingers or the gripped brick."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand moves upward while gripping the small orange 2x2 brick, lifting the brick partially away from the dark supporting surface."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand holds the small orange lego brick and moves it leftward above the dark table surface toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: release: Right hand opens its fingers to release the small orange lego brick, which falls and rests on the dark table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves downward with open fingers, approaching the small orange lego brick resting on the table."}, {"label": "subtasks", "start_step": 908, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes its fingers around the small orange lego brick on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes its fingers around the small orange lego brick on the dark table surface to adjust and establish a stable re-grasp."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift_transport: Right hand lifts the grasped small orange lego brick off the dark table surface and moves it downward to position it over the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1118, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate: Right hand adjusts the position of the small orange lego brick to align it with the studs on the stacked green and blue lego bricks, pressing it slightly to fit the two pieces together."}, {"label": "subtasks", "start_step": 1260, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach_grasp: Right hand moves toward the orange lego brick, adjusts finger positions to establish stable contact with the lego stack and aligns the index finger over the top of the orange lego brick."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: press: Right hand presses vertically down on the top surface of the orange lego brick resting on the underlying lego stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: return_home: Left hand rotates its wrist to face the palm forward, extends fingers from a slightly curled posture to a straight upward-pointing posture, and moves slightly upward to return to its initial raised home position. | Right hand: return_home: Right hand rotates its wrist to face the palm forward, extends fingers from a curled grasping posture to a straight upward-pointing posture, and moves upward away from the stacked blocks on the table to return to its initial raised home position."}, {"label": "home", "start_step": 1476, "end_step": 1515, "id": "BItnKvJYn7scnP1K019Vl"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: idle: Right hand remains empty and stationary at the right upper side of the workspace, not yet moving toward the small green 2x2 lego brick."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves downward with slightly open fingers, approaching the small green 2x2 lego brick placed on the black table surface, without making contact with the brick."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand positions fingers around the small green 2x2 lego brick, adjusting finger placement to initiate contact and prepare for grasping the brick, which remains on the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand moves its fingers around the small green lego brick on the dark surface, closing and adjusting finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand moves upward to lift the securely grasped small green lego brick completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand carries the lifted small green lego brick horizontally toward the larger green lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: place: Right hand lowers the small green lego brick downward until it rests on the top surface of the larger green lego brick."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate: Right hand adjusts the position and orientation of the small green lego brick to align it with the larger green lego brick, applying light downward pressure to seat the bricks together."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: release: Right hand opens its fingers to release its grip on the aligned small green lego brick."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves from the position near the green lego base toward the adjacent small blue 2x2 lego block, with fingers slightly open and not yet in contact with the blue block."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand contacts the small blue 2x2 lego block, gradually closing fingers and adjusting contact positions to establish a stable grasp while the block remains on the dark supporting surface."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table."}, {"label": "subtasks", "start_step": 555, "end_step": 561, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes fingers around the small blue lego brick on the dark table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand raises the grasped small blue lego brick upward until the brick is fully separated from the table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand carries the grasped small blue lego brick horizontally to position it directly above the small green lego brick."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate_release: Right hand aligns the small blue lego brick with connection points on the green lego brick, presses down to attach the two bricks together, opening fingers to release the blue brick."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: idle: Right hand remains empty adjacent to the stacked lego bricks without any observable movement."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves empty from the area near the stacked blue and green bricks toward the small orange 2x2 brick on the dark flat surface, with fingers extended to approach the target."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes fingers around the small orange 2x2 brick, adjusting finger contact to form a stable grip while the brick remains resting on the dark surface."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: hold: Right hand holds the small orange 2x2 brick steadily on the dark flat surface, with no observable movement of the hand, fingers or the gripped brick."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift: Right hand moves upward while gripping the small orange 2x2 brick, lifting the brick partially away from the dark supporting surface."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: transport: Right hand holds the small orange lego brick and moves it leftward above the dark table surface toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: release: Right hand opens its fingers to release the small orange lego brick, which falls and rests on the dark table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach: Right hand moves downward with open fingers, approaching the small orange lego brick resting on the table."}, {"label": "subtasks", "start_step": 908, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes its fingers around the small orange lego brick on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: grasp: Right hand closes its fingers around the small orange lego brick on the dark table surface to adjust and establish a stable re-grasp."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: lift_transport: Right hand lifts the grasped small orange lego brick off the dark table surface and moves it downward to position it over the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1118, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: mate: Right hand adjusts the position of the small orange lego brick to align it with the studs on the stacked green and blue lego bricks, pressing it slightly to fit the two pieces together."}, {"label": "subtasks", "start_step": 1260, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: reach_grasp: Right hand moves toward the orange lego brick, adjusts finger positions to establish stable contact with the lego stack and aligns the index finger over the top of the orange lego brick."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the workspace, without contacting or moving toward any lego bricks on the table. | Right hand: press: Right hand presses vertically down on the top surface of the orange lego brick resting on the underlying lego stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: return_home: Left hand rotates its wrist to face the palm forward, extends fingers from a slightly curled posture to a straight upward-pointing posture, and moves slightly upward to return to its initial raised home position. | Right hand: return_home: Right hand rotates its wrist to face the palm forward, extends fingers from a curled grasping posture to a straight upward-pointing posture, and moves upward away from the stacked blocks on the table to return to its initial raised home position."}], "episode_index": 17}
+{"source_uid": "27520d107344fc32", "num_frames": 1562, "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": 74, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and rotates slightly to face the building blocks on the table, keeping fingers slightly open and empty. | Right hand: reach: Right hand moves upward and rotates slightly to face the building blocks on the table, keeping fingers slightly open and empty."}, {"label": "valid", "start_step": 0, "end_step": 1526, "id": "Pid7_M2SzVXMHeSMZf0-Y"}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves downward and leftward toward the small green square block on the black surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green square block, with fingers closing around the block."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the small green block on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reorient: Right hand rotates the small green block about a quarter turn on the table surface, with the block staying in contact with the table."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the small green block on the table surface without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand reaches toward the small green block on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green block on the black table surface with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00009", "text": "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 block off the table and moves it rightward and downward toward the larger green block."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00010", "text": "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 block onto the larger green block on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its grip on the green block on the dark surface, with slight finger position adjustments."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reorient: Right hand slightly rotates and adjusts the pose of the green block on the dark surface, with the block staying on the surface."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: press: Right hand presses down on the green block on the dark surface to apply vertical pressure."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases its grip slightly, lifting fingers away from the top of the green block."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "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 re-grasps the green block on the dark surface, with fingers closing back onto the block."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: press: Right hand presses down on the green block again to secure it on the dark surface."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves rightward toward the blue square block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue square block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the blue square block on the dark table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the blue square block off the table and transports it leftward to the position above the green block."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00021", "text": "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 square block onto the green block and adjusts its position to align with the green block for assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the blue square block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue building block placed on the green building block, with fingers adjusting contact points to form a stable grip."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate_press: Right hand aligns the blue building block with the green building block below and presses it down to secure the assembly."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the assembled blue and green building blocks still without moving."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release_retreat: Right hand releases the blue building block and retreats backward away from the assembled blocks."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach_grasp: Right hand moves toward the orange square block on the table and closes its fingers to grasp the block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the orange square block resting on the table without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange square block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the orange square block off the table and transports it leftward to the position above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place_mate: Right hand places the orange square block onto the stacked green and blue blocks and adjusts it to mate with the lower block's studs."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the orange square block on top of the stacked green and blue blocks without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand holds the orange block and adjusts its position to align it with the blue block below for assembly."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00034", "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 block downward to secure it on top of the blue block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens its fingers and releases the orange block, moving slightly upward away from the block."}, {"label": "subtasks", "start_step": 1500, "end_step": 1561, "id": "reasoning-language-00036", "text": "Left hand: return_home: Left hand moves downward from the upper left area to the home position on the left side and stops. | Right hand: return_home: Right hand moves downward away from the block stack to the home position on the right side and stops."}, {"label": "home", "start_step": 1527, "end_step": 1561, "id": "2_o0dUxzHbfIMIszzOcnJ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and rotates slightly to face the building blocks on the table, keeping fingers slightly open and empty. | Right hand: reach: Right hand moves upward and rotates slightly to face the building blocks on the table, keeping fingers slightly open and empty."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves downward and leftward toward the small green square block on the black surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green square block, with fingers closing around the block."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the small green block on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reorient: Right hand rotates the small green block about a quarter turn on the table surface, with the block staying in contact with the table."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the small green block on the table surface without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand reaches toward the small green block on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green block on the black table surface with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00009", "text": "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 block off the table and moves it rightward and downward toward the larger green block."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00010", "text": "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 block onto the larger green block on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its grip on the green block on the dark surface, with slight finger position adjustments."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reorient: Right hand slightly rotates and adjusts the pose of the green block on the dark surface, with the block staying on the surface."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: press: Right hand presses down on the green block on the dark surface to apply vertical pressure."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases its grip slightly, lifting fingers away from the top of the green block."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "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 re-grasps the green block on the dark surface, with fingers closing back onto the block."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: press: Right hand presses down on the green block again to secure it on the dark surface."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves rightward toward the blue square block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue square block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the blue square block on the dark table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the blue square block off the table and transports it leftward to the position above the green block."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00021", "text": "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 square block onto the green block and adjusts its position to align with the green block for assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the blue square block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue building block placed on the green building block, with fingers adjusting contact points to form a stable grip."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate_press: Right hand aligns the blue building block with the green building block below and presses it down to secure the assembly."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the assembled blue and green building blocks still without moving."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release_retreat: Right hand releases the blue building block and retreats backward away from the assembled blocks."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach_grasp: Right hand moves toward the orange square block on the table and closes its fingers to grasp the block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the orange square block resting on the table without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange square block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the orange square block off the table and transports it leftward to the position above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place_mate: Right hand places the orange square block onto the stacked green and blue blocks and adjusts it to mate with the lower block's studs."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the orange square block on top of the stacked green and blue blocks without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand holds the orange block and adjusts its position to align it with the blue block below for assembly."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00034", "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 block downward to secure it on top of the blue block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand opens its fingers and releases the orange block, moving slightly upward away from the block."}, {"label": "subtasks", "start_step": 1500, "end_step": 1561, "id": "reasoning-language-00036", "text": "Left hand: return_home: Left hand moves downward from the upper left area to the home position on the left side and stops. | Right hand: return_home: Right hand moves downward away from the block stack to the home position on the right side and stops."}], "episode_index": 18}
+{"source_uid": "7d262ad480341519", "num_frames": 1174, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:move_upwards: Left hand moves upwards empty-handed, no contact with any operating objects. | Right hand: reach: Right hand moves downwards towards the small green block on the black table, empty-handed, without touching the block."}, {"label": "valid", "start_step": 0, "end_step": 1132, "id": "OOviT3vsSyindy2nFhDLf"}, {"label": "subtasks", "start_step": 52, "end_step": 104, "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 towards the small green block on the black table, empty-handed, without touching the block."}, {"label": "subtasks", "start_step": 105, "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 closes fingers to contact and grasp the small green block on the black table."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the small green block on the black surface."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the small green block off the black surface and moves it towards the larger green block."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00006", "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 larger green block placed on the black surface."}, {"label": "subtasks", "start_step": 248, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the small green block downward onto the larger green block."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the small green block, fingers gradually open and separate from the block."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: retreat: Right hand moves away from the assembled green blocks to the right side."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves towards the blue block placed on the black table."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the blue block on the black table."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the blue block resting on the black surface."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the blue block away from the black surface and moves it towards the stacked green blocks."}, {"label": "subtasks", "start_step": 615, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand lowers the blue block onto the top of the stacked green blocks."}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand adjusts the position of the blue block to align it with the connection points of the green blocks."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the blue block downwards to attach it firmly to the green blocks."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the orange block onto the black table, with fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "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 towards the orange block that is placed on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 table, with fingers closing to adjust and stabilize the grip."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block on the black tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the orange block off the tabletop and transports it to above the blue block."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "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 orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 908, "end_step": 1101, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the orange block downwards to mate it with the blue block securely."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the orange block and retreats from the assembled blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand moves slightly upwards at the left side of the frame, empty-handed. | Right hand: retreat: Right hand moves upwards and to the right, retreating from the operation position near the colorful building blocks, empty-handed."}, {"label": "home", "start_step": 1133, "end_step": 1173, "id": "ZLK6dQ0hlID_GbZIegDIX"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:move_upwards: Left hand moves upwards empty-handed, no contact with any operating objects. | Right hand: reach: Right hand moves downwards towards the small green block on the black table, empty-handed, without touching the block."}, {"label": "subtasks", "start_step": 52, "end_step": 104, "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 towards the small green block on the black table, empty-handed, without touching the block."}, {"label": "subtasks", "start_step": 105, "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 closes fingers to contact and grasp the small green block on the black table."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the small green block on the black surface."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the small green block off the black surface and moves it towards the larger green block."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00006", "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 larger green block placed on the black surface."}, {"label": "subtasks", "start_step": 248, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the small green block downward onto the larger green block."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the small green block, fingers gradually open and separate from the block."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: retreat: Right hand moves away from the assembled green blocks to the right side."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves towards the blue block placed on the black table."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the blue block on the black table."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the blue block resting on the black surface."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the blue block away from the black surface and moves it towards the stacked green blocks."}, {"label": "subtasks", "start_step": 615, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand lowers the blue block onto the top of the stacked green blocks."}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand adjusts the position of the blue block to align it with the connection points of the green blocks."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the blue block downwards to attach it firmly to the green blocks."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the orange block onto the black table, with fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "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 towards the orange block that is placed on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 table, with fingers closing to adjust and stabilize the grip."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block on the black tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the orange block off the tabletop and transports it to above the blue block."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "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 orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 908, "end_step": 1101, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the orange block downwards to mate it with the blue block securely."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the orange block and retreats from the assembled blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand moves slightly upwards at the left side of the frame, empty-handed. | Right hand: retreat: Right hand moves upwards and to the right, retreating from the operation position near the colorful building blocks, empty-handed."}], "episode_index": 19}
+{"source_uid": "8d10368d0acd926a", "num_frames": 1767, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand remains empty at its upper right home position without any observable movement."}, {"label": "valid", "start_step": 0, "end_step": 1721, "id": "w5bEXh_a2xTN0z6_IGUGP"}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves downward toward the small green 2x2 brick on the black table surface, with fingers held in a slightly extended open posture."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the small green 2x2 brick, closes fingers around the brick and makes small wrist and finger adjustments to establish grip, while the brick remains resting on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand extends fingers slightly to open the grip, releasing the small green 2x2 brick resting on the dark work surface."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves with empty open fingers toward the small green 2x2 brick on the dark work surface."}, {"label": "subtasks", "start_step": 240, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the small green 2x2 brick, adjusting finger positions and grip to form a stable hold, slightly lifting the brick during adjustment."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small green 2x2 brick steadily with no observable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves toward the upright small green 2x2 brick on the dark gray table surface, adjusting finger positions to approach the brick without making stable contact."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls fingers to contact the upright green brick, fails to establish a stable grasp, and knocks the brick over to lie flat on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves over the toppled flat green brick, adjusting its position and finger posture to re-align with the target brick."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand stays empty beside the toppled green brick on the table, with no visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 510, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls fingers around the flat green brick, making small continuous adjustments to finger contact points and grip tension to form a stable grasp, while the brick remains supported by the table."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: lift: Right hand moves upward with the stably grasped green brick, lifting the brick completely away from the table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: transport: Right hand holds the small light green brick and transports it downward toward the larger light green brick placed on the dark flat surface."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: place: Right hand lowers the small light green brick to place it on the upper surface of the larger light green brick, until the small brick is fully supported by the larger one."}, {"label": "subtasks", "start_step": 705, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small light green brick on top of the larger light green brick without any visible movement or finger adjustment."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers gradually to release the grip on the small light green brick, separating from the brick surface."}, {"label": "subtasks", "start_step": 825, "end_step": 907, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand remains empty in the area adjacent to the stacked green bricks without visible movement."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach_grasp: Right hand moves a short distance toward the small light green brick and closes its fingers to establish a stable grasp on the brick."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: press: Right hand applies downward pressure on the small light green brick to press it against the larger green brick below."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small light green brick on the larger green brick without visible movement of the hand, wrist or fingers."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers while moving upward to release the small light green brick, leaving the brick resting on the larger green brick."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves upward with an empty hand, retreating away from the stacked green bricks."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves rightward toward the blue 2x2 lego brick on the dark work surface, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls its fingers inward to close around the blue 2x2 lego brick, forming a stable grip on the brick while the brick remains on the work surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1244, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: mate: Right hand moves the grasped blue 2x2 lego brick leftward along the dark work surface to align with the adjacent green lego brick, presses down slightly to attach the two bricks together."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the attached blue lego brick, breaking contact between the hand and the brick surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves rightward away from the assembled lego bricks, with fingers held in a slightly spread position."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves leftward toward the orange 2x2 lego brick on the dark table surface, with fingers held slightly open as it approaches the brick."}, {"label": "subtasks", "start_step": 1312, "end_step": 1387, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls its fingers to close around the orange 2x2 lego brick, making small finger adjustments to form a stable grasp while the brick remains resting on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped orange 2x2 lego brick off the table surface, moving leftward to carry the brick toward the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: place: Right hand lowers the orange 2x2 lego brick onto the top surface of the stacked green and blue lego bricks until the orange brick is supported by the stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to align the orange 2x2 lego brick with the connection points on the stacked lego bricks, fitting the bricks into an assembled position."}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled orange lego brick in place on top of the stacked green and blue lego bricks without observable movement."}, {"label": "subtasks", "start_step": 1620, "end_step": 1694, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand extends its fingers and opens them to release the stacked lego blocks resting on the dark table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves upward with empty hand, retreating away from the released lego stack on the table."}, {"label": "home", "start_step": 1722, "end_step": 1766, "id": "QeqxOFFFETogdxFhtWnjb"}, {"label": "subtasks", "start_step": 1725, "end_step": 1766, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand remains empty at its upper right home position without any observable movement."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves downward toward the small green 2x2 brick on the black table surface, with fingers held in a slightly extended open posture."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the small green 2x2 brick, closes fingers around the brick and makes small wrist and finger adjustments to establish grip, while the brick remains resting on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand extends fingers slightly to open the grip, releasing the small green 2x2 brick resting on the dark work surface."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves with empty open fingers toward the small green 2x2 brick on the dark work surface."}, {"label": "subtasks", "start_step": 240, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the small green 2x2 brick, adjusting finger positions and grip to form a stable hold, slightly lifting the brick during adjustment."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small green 2x2 brick steadily with no observable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves toward the upright small green 2x2 brick on the dark gray table surface, adjusting finger positions to approach the brick without making stable contact."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls fingers to contact the upright green brick, fails to establish a stable grasp, and knocks the brick over to lie flat on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves over the toppled flat green brick, adjusting its position and finger posture to re-align with the target brick."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand stays empty beside the toppled green brick on the table, with no visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 510, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls fingers around the flat green brick, making small continuous adjustments to finger contact points and grip tension to form a stable grasp, while the brick remains supported by the table."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: lift: Right hand moves upward with the stably grasped green brick, lifting the brick completely away from the table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: transport: Right hand holds the small light green brick and transports it downward toward the larger light green brick placed on the dark flat surface."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: place: Right hand lowers the small light green brick to place it on the upper surface of the larger light green brick, until the small brick is fully supported by the larger one."}, {"label": "subtasks", "start_step": 705, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small light green brick on top of the larger light green brick without any visible movement or finger adjustment."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers gradually to release the grip on the small light green brick, separating from the brick surface."}, {"label": "subtasks", "start_step": 825, "end_step": 907, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: idle: Right hand remains empty in the area adjacent to the stacked green bricks without visible movement."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach_grasp: Right hand moves a short distance toward the small light green brick and closes its fingers to establish a stable grasp on the brick."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: press: Right hand applies downward pressure on the small light green brick to press it against the larger green brick below."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the small light green brick on the larger green brick without visible movement of the hand, wrist or fingers."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers while moving upward to release the small light green brick, leaving the brick resting on the larger green brick."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves upward with an empty hand, retreating away from the stacked green bricks."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves rightward toward the blue 2x2 lego brick on the dark work surface, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls its fingers inward to close around the blue 2x2 lego brick, forming a stable grip on the brick while the brick remains on the work surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1244, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: mate: Right hand moves the grasped blue 2x2 lego brick leftward along the dark work surface to align with the adjacent green lego brick, presses down slightly to attach the two bricks together."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the attached blue lego brick, breaking contact between the hand and the brick surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves rightward away from the assembled lego bricks, with fingers held in a slightly spread position."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: reach: Right hand moves leftward toward the orange 2x2 lego brick on the dark table surface, with fingers held slightly open as it approaches the brick."}, {"label": "subtasks", "start_step": 1312, "end_step": 1387, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: grasp: Right hand curls its fingers to close around the orange 2x2 lego brick, making small finger adjustments to form a stable grasp while the brick remains resting on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped orange 2x2 lego brick off the table surface, moving leftward to carry the brick toward the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: place: Right hand lowers the orange 2x2 lego brick onto the top surface of the stacked green and blue lego bricks until the orange brick is supported by the stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to align the orange 2x2 lego brick with the connection points on the stacked lego bricks, fitting the bricks into an assembled position."}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled orange lego brick in place on top of the stacked green and blue lego bricks without observable movement."}, {"label": "subtasks", "start_step": 1620, "end_step": 1694, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: release: Right hand extends its fingers and opens them to release the stacked lego blocks resting on the dark table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement. | Right hand: retreat: Right hand moves upward with empty hand, retreating away from the released lego stack on the table."}, {"label": "subtasks", "start_step": 1725, "end_step": 1766, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at its upper left resting position without any observable movement."}], "episode_index": 20}
+{"source_uid": "1c6f60f8b1b373e9", "num_frames": 1461, "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": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly spreads its fingers to adjust posture while positioned in the upper left area, remaining empty with no contact to any objects. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture by slightly curving and spreading fingers while positioned in the upper right initial area, remaining empty without moving toward the Lego blocks."}, {"label": "valid", "start_step": 0, "end_step": 1411, "id": "H1QbeFI4-reHatPCashC6"}, {"label": "subtasks", "start_step": 45, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture by slightly curving and spreading fingers while positioned in the upper right initial area, remaining empty without moving toward the Lego blocks."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green Lego block on the black table surface, maintaining a curved pre-grasp finger posture as it approaches the block without making contact."}, {"label": "subtasks", "start_step": 105, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the small 2x2 green Lego block, making minor adjustments to finger contact points to form a stable grasp while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped small 2x2 green Lego block upward, fully separating the block from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate: Right hand holds the small light green Lego block, moves it downward to align it with the larger light green Lego block on the dark work surface to enter the assembly position."}, {"label": "subtasks", "start_step": 240, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press: Right hand presses down vertically on the aligned small light green Lego block to secure and embed it onto the larger light green Lego block."}, {"label": "subtasks", "start_step": 338, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: release: Right hand opens its fingers gradually to release the embedded small light green Lego block, moving fingers away from the grasping position."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains stationary near the assembled Lego blocks without grasping any object, with no observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves from above the green lego block toward the blue lego block on the dark table surface, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 472, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp_lift: Right hand closes fingers around the blue lego block on the dark table surface, adjusts grip to secure the block, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: transport_release: Right hand holds the blue lego block, moves it a short distance across the table area, and opens fingers to release the block as it falls toward the surface."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains empty near the green and orange lego blocks without moving."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach_reorient: Right hand moves left and downward from above the green block toward the blue block on the dark table, contacts the block and rotates it roughly 180 degrees to turn its studded top face upward while the block stays in nearly the same position."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand makes slight positional adjustments above the flipped blue block, repositioning fingers to prepare for gripping the block."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the blue block, making small adjustments to finger contact points to form a stable grip on the block while it rests on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the blue block steadily on the table surface, with no observable movement of the hand, fingers, or the gripped block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand maintains grip on the blue block, lifts it completely off the table surface, and moves it rightward to a position next to the green block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: place_release: Right hand lowers the blue block to rest on the table at the new position, then opens fingers to release the block and remains adjacent to the placed block."}, {"label": "subtasks", "start_step": 855, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the blue building block placed on the dark gray table with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 908, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the blue building block to form a stable grasp, with the block resting on the dark gray table surface."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift: Right hand raises the grasped blue building block upward to lift it completely off the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: transport: Right hand moves while holding the blue building block, carrying it toward the adjacent green building block on the table."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the held blue building block to align its connection points with the top connection points of the green building block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press_release: Right hand exerts downward pressure on the aligned blue building block to attach it to the green block, and opens fingers to release the connected blocks."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the small orange block on the dark table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the orange block resting on the table, making slight finger adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange block off the table surface and moves it horizontally to a position above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1268, "end_step": 1341, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate_release: Right hand aligns and fits the orange block onto the top of the stacked green and blue blocks, with fingers opening to release the connected block."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand extends the index finger and moves toward the top surface of the assembled orange block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press_retreat: Right index finger presses downward on the top surface of the orange block to secure the assembly, slightly retreating away from the block surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: return_home: Left hand moves toward the body-side home position and rotates about a quarter turn, adjusting its posture from fingers pointing rightward to fingers pointing upward. | Right hand: return_home: Right hand moves away from the stacked blocks toward the body-side home position and rotates about a quarter turn, adjusting its posture from a block-facing open posture to fingers pointing upward."}, {"label": "home", "start_step": 1412, "end_step": 1460, "id": "GjJVRWL0J9QffXVtjYlrj"}, {"label": "subtasks", "start_step": 1448, "end_step": 1460, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without any visible movement. | Right hand: idle: Right hand remains empty and stationary at the right home position without any visible movement."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly spreads its fingers to adjust posture while positioned in the upper left area, remaining empty with no contact to any objects. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture by slightly curving and spreading fingers while positioned in the upper right initial area, remaining empty without moving toward the Lego blocks."}, {"label": "subtasks", "start_step": 45, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture by slightly curving and spreading fingers while positioned in the upper right initial area, remaining empty without moving toward the Lego blocks."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green Lego block on the black table surface, maintaining a curved pre-grasp finger posture as it approaches the block without making contact."}, {"label": "subtasks", "start_step": 105, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the small 2x2 green Lego block, making minor adjustments to finger contact points to form a stable grasp while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped small 2x2 green Lego block upward, fully separating the block from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate: Right hand holds the small light green Lego block, moves it downward to align it with the larger light green Lego block on the dark work surface to enter the assembly position."}, {"label": "subtasks", "start_step": 240, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press: Right hand presses down vertically on the aligned small light green Lego block to secure and embed it onto the larger light green Lego block."}, {"label": "subtasks", "start_step": 338, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: release: Right hand opens its fingers gradually to release the embedded small light green Lego block, moving fingers away from the grasping position."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains stationary near the assembled Lego blocks without grasping any object, with no observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves from above the green lego block toward the blue lego block on the dark table surface, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 472, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp_lift: Right hand closes fingers around the blue lego block on the dark table surface, adjusts grip to secure the block, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: transport_release: Right hand holds the blue lego block, moves it a short distance across the table area, and opens fingers to release the block as it falls toward the surface."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains empty near the green and orange lego blocks without moving."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach_reorient: Right hand moves left and downward from above the green block toward the blue block on the dark table, contacts the block and rotates it roughly 180 degrees to turn its studded top face upward while the block stays in nearly the same position."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand makes slight positional adjustments above the flipped blue block, repositioning fingers to prepare for gripping the block."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the blue block, making small adjustments to finger contact points to form a stable grip on the block while it rests on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the blue block steadily on the table surface, with no observable movement of the hand, fingers, or the gripped block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand maintains grip on the blue block, lifts it completely off the table surface, and moves it rightward to a position next to the green block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: place_release: Right hand lowers the blue block to rest on the table at the new position, then opens fingers to release the block and remains adjacent to the placed block."}, {"label": "subtasks", "start_step": 855, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the blue building block placed on the dark gray table with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 908, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the blue building block to form a stable grasp, with the block resting on the dark gray table surface."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift: Right hand raises the grasped blue building block upward to lift it completely off the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: transport: Right hand moves while holding the blue building block, carrying it toward the adjacent green building block on the table."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the held blue building block to align its connection points with the top connection points of the green building block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press_release: Right hand exerts downward pressure on the aligned blue building block to attach it to the green block, and opens fingers to release the connected blocks."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the small orange block on the dark table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the orange block resting on the table, making slight finger adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange block off the table surface and moves it horizontally to a position above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1268, "end_step": 1341, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: mate_release: Right hand aligns and fits the orange block onto the top of the stacked green and blue blocks, with fingers opening to release the connected block."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: reach: Right hand extends the index finger and moves toward the top surface of the assembled orange block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely stationary in the upper left area, with no observable movement of the hand or fingers. | Right hand: press_retreat: Right index finger presses downward on the top surface of the orange block to secure the assembly, slightly retreating away from the block surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: return_home: Left hand moves toward the body-side home position and rotates about a quarter turn, adjusting its posture from fingers pointing rightward to fingers pointing upward. | Right hand: return_home: Right hand moves away from the stacked blocks toward the body-side home position and rotates about a quarter turn, adjusting its posture from a block-facing open posture to fingers pointing upward."}, {"label": "subtasks", "start_step": 1448, "end_step": 1460, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without any visible movement. | Right hand: idle: Right hand remains empty and stationary at the right home position without any visible movement."}], "episode_index": 21}
+{"source_uid": "c514522dc977a7d4", "num_frames": 1101, "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": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves forward and downward toward the building blocks placed on the black table."}, {"label": "valid", "start_step": 0, "end_step": 1060, "id": "pPLdzg1mhCGktlNvT0WTH"}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves towards the small green building block on the black surface."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small green building block, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block off the black surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block up from the black surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the small green building block toward the larger green building block."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the small green building block onto the larger green building block."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the small green building block on the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block completely off the black table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the small green building block to the position above the larger green building block."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand lowers the small green building block onto the top surface of the larger green building block."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens its fingers to release the small green building block."}, {"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the small green building block placed on the black surface by opening its fingers."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the blue building block on the black surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue building block on the black table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 465, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the blue building block on the black table without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the blue building block from the table surface and transports it above the green building block."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the blue building block onto the top surface of the green building block."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the blue building block down to mate with the green building block."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the blue building block with fingers opening."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the blue building block placed on the gray work surface."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the orange building block on the gray work surface."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the orange building block on the gray work surface."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the orange building block on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the orange building block from the tabletop and transports it toward the stacked blue and green building blocks."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the orange building block onto the top of the stacked blue building block."}, {"label": "subtasks", "start_step": 848, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the orange building block down onto the blue building block to complete the assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the orange building block on top of the stacked blocks."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand moves backward away from the building blocks."}, {"label": "home", "start_step": 1061, "end_step": 1100, "id": "lXt4IdTGs8qvxbZtTWnrX"}, {"label": "subtasks", "start_step": 1065, "end_step": 1100, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves forward and downward toward the building blocks placed on the black table."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves towards the small green building block on the black surface."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small green building block, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block off the black surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block up from the black surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the small green building block toward the larger green building block."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the small green building block onto the larger green building block."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the small green building block on the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the small green building block completely off the black table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the small green building block to the position above the larger green building block."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand lowers the small green building block onto the top surface of the larger green building block."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens its fingers to release the small green building block."}, {"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the small green building block placed on the black surface by opening its fingers."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the blue building block on the black surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue building block on the black table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 465, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the blue building block on the black table without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the blue building block from the table surface and transports it above the green building block."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the blue building block onto the top surface of the green building block."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the blue building block down to mate with the green building block."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the blue building block with fingers opening."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the blue building block placed on the gray work surface."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the orange building block on the gray work surface."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the orange building block on the gray work surface."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the orange building block on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the orange building block from the tabletop and transports it toward the stacked blue and green building blocks."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the orange building block onto the top of the stacked blue building block."}, {"label": "subtasks", "start_step": 848, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the orange building block down onto the blue building block to complete the assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the orange building block on top of the stacked blocks."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand moves backward away from the building blocks."}, {"label": "subtasks", "start_step": 1065, "end_step": 1100, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving."}], "episode_index": 22}
+{"source_uid": "0e7d3ab963ce5806", "num_frames": 1590, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves upward from its initial upright position with fingers spreading open, rising to the upper left area while remaining empty. | Right hand: other:adjust_posture: Right hand moves upward from its initial upright position, adjusting wrist and finger posture as it moves to the upper right area, remaining empty."}, {"label": "valid", "start_step": 0, "end_step": 1545, "id": "oycya0kmDatWjS9wWL3AG"}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: other:adjust_posture: Left hand moves upward from its initial upright position with fingers spreading open, rising to the upper left area while remaining empty. | Right hand: reach: Right hand moves downward from the upper right area toward the small green block on the black table surface, fingers curving slightly as it approaches the target."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: other:adjust_posture: Left hand makes slight downward posture adjustments at the upper left area, keeping fingers spread and not touching any blocks on the table. | Right hand: reach: Right hand moves downward from the upper right area toward the small green block on the black table surface, fingers curving slightly as it approaches the target."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: other:adjust_object_position: Right hand makes contact with the small green Lego brick on the dark table surface, adjusting its position by sliding the brick slightly across the table with small finger and wrist movements."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand, now empty, moves slightly upward and away from the small green Lego brick after releasing contact with it."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves downward through the air toward the small green Lego brick, approaching the brick without making contact."}, {"label": "subtasks", "start_step": 248, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: other:adjust_object_position: Right hand makes contact with the small green Lego brick again, adjusting its position on the dark table surface via small finger and wrist movements."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift_transport: Right hand holds the small green lego brick, lifts it from the table surface and moves it downward to make contact with the larger flat green lego brick."}, {"label": "subtasks", "start_step": 368, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: mate: Right hand adjusts the position of the small green lego brick on the larger flat green lego brick to align their interlocking points, with fingers making fine positional adjustments to the brick."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand presses vertically down on the aligned small green lego brick to fasten it securely to the larger flat green lego brick."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: release: Right hand opens its fingers to release the fastened small green lego brick, breaking physical contact with the brick."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward away from the assembled green lego bricks as an empty hand."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves right across the dark table surface toward the small blue lego brick, with fingers held slightly open as it approaches the brick."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: grasp: Right hand adjusts the positions of its thumb and index finger around the small blue lego brick, closing fingers gradually to form a stable grip on the brick while the brick remains on the table."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift: Right hand holds the small blue lego brick and lifts it upward, raising the brick completely off the dark table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: transport: Right hand carries the lifted small blue lego brick, moving it downward and to the left across the table area."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: transport: Right hand holds the small blue lego brick and moves leftward toward the green lego brick."}, {"label": "subtasks", "start_step": 772, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: place: Right hand lowers the grasped small blue lego brick onto the table surface adjacent to the green lego brick until the brick is fully supported by the table."}, {"label": "subtasks", "start_step": 825, "end_step": 944, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: mate_release: Right hand adjusts the grasped blue lego brick to align tightly against the adjacent green lego brick, opening fingers to release the brick."}, {"label": "subtasks", "start_step": 945, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand uses fingers to press the top and side surfaces of the blue lego brick to secure its position next to the green lego brick on the table."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward and rightward away from the lego bricks, retreating from the operation area with an empty hand."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves upward and right toward the small orange lego brick on the dark gray surface, remaining empty with fingers slightly extended."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: grasp: Right hand closes fingers around the small orange lego brick, making slight positional adjustments of the fingers and wrist to form a stable grip while the brick stays on the dark gray surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift_transport: Right hand lifts the small orange lego brick completely off the dark gray surface and moves it downward and left toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: place: Right hand holds the small orange lego brick and moves it downward to place it on top of the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: hold: Right hand holds the stably placed small orange lego brick on the lego stack without obvious movement or adjustment."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: release: Right hand opens its fingers gradually to release the grasp on the orange lego brick, separating the fingers from the brick surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand positions its finger on the top surface of the orange lego brick and presses vertically downward to secure the brick to the stack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward and away from the lego stack as an empty hand after the pressing action."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward and backward with an empty hand to reach the home position and stops. | Right hand: return_home: Right hand moves upward and backward with an empty hand to reach the home position and stops."}, {"label": "home", "start_step": 1546, "end_step": 1589, "id": "R3hX75Xja5kZmWmH7cQ9z"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves upward from its initial upright position with fingers spreading open, rising to the upper left area while remaining empty. | Right hand: other:adjust_posture: Right hand moves upward from its initial upright position, adjusting wrist and finger posture as it moves to the upper right area, remaining empty."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: other:adjust_posture: Left hand moves upward from its initial upright position with fingers spreading open, rising to the upper left area while remaining empty. | Right hand: reach: Right hand moves downward from the upper right area toward the small green block on the black table surface, fingers curving slightly as it approaches the target."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: other:adjust_posture: Left hand makes slight downward posture adjustments at the upper left area, keeping fingers spread and not touching any blocks on the table. | Right hand: reach: Right hand moves downward from the upper right area toward the small green block on the black table surface, fingers curving slightly as it approaches the target."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: other:adjust_object_position: Right hand makes contact with the small green Lego brick on the dark table surface, adjusting its position by sliding the brick slightly across the table with small finger and wrist movements."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand, now empty, moves slightly upward and away from the small green Lego brick after releasing contact with it."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves downward through the air toward the small green Lego brick, approaching the brick without making contact."}, {"label": "subtasks", "start_step": 248, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: other:adjust_object_position: Right hand makes contact with the small green Lego brick again, adjusting its position on the dark table surface via small finger and wrist movements."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift_transport: Right hand holds the small green lego brick, lifts it from the table surface and moves it downward to make contact with the larger flat green lego brick."}, {"label": "subtasks", "start_step": 368, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: mate: Right hand adjusts the position of the small green lego brick on the larger flat green lego brick to align their interlocking points, with fingers making fine positional adjustments to the brick."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand presses vertically down on the aligned small green lego brick to fasten it securely to the larger flat green lego brick."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: release: Right hand opens its fingers to release the fastened small green lego brick, breaking physical contact with the brick."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward away from the assembled green lego bricks as an empty hand."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves right across the dark table surface toward the small blue lego brick, with fingers held slightly open as it approaches the brick."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: grasp: Right hand adjusts the positions of its thumb and index finger around the small blue lego brick, closing fingers gradually to form a stable grip on the brick while the brick remains on the table."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift: Right hand holds the small blue lego brick and lifts it upward, raising the brick completely off the dark table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: transport: Right hand carries the lifted small blue lego brick, moving it downward and to the left across the table area."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: transport: Right hand holds the small blue lego brick and moves leftward toward the green lego brick."}, {"label": "subtasks", "start_step": 772, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: place: Right hand lowers the grasped small blue lego brick onto the table surface adjacent to the green lego brick until the brick is fully supported by the table."}, {"label": "subtasks", "start_step": 825, "end_step": 944, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: mate_release: Right hand adjusts the grasped blue lego brick to align tightly against the adjacent green lego brick, opening fingers to release the brick."}, {"label": "subtasks", "start_step": 945, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand uses fingers to press the top and side surfaces of the blue lego brick to secure its position next to the green lego brick on the table."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward and rightward away from the lego bricks, retreating from the operation area with an empty hand."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: reach: Right hand moves upward and right toward the small orange lego brick on the dark gray surface, remaining empty with fingers slightly extended."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: grasp: Right hand closes fingers around the small orange lego brick, making slight positional adjustments of the fingers and wrist to form a stable grip while the brick stays on the dark gray surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: lift_transport: Right hand lifts the small orange lego brick completely off the dark gray surface and moves it downward and left toward the stacked blue and green lego bricks."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: place: Right hand holds the small orange lego brick and moves it downward to place it on top of the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: hold: Right hand holds the stably placed small orange lego brick on the lego stack without obvious movement or adjustment."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: release: Right hand opens its fingers gradually to release the grasp on the orange lego brick, separating the fingers from the brick surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: press: Right hand positions its finger on the top surface of the orange lego brick and presses vertically downward to secure the brick to the stack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area of the frame, with no contact to any manipulated object. | Right hand: retreat: Right hand moves upward and away from the lego stack as an empty hand after the pressing action."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward and backward with an empty hand to reach the home position and stops. | Right hand: return_home: Right hand moves upward and backward with an empty hand to reach the home position and stops."}], "episode_index": 23}
+{"source_uid": "1a830be59ea0da02", "num_frames": 1642, "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": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly opens its fingers while staying raised at the upper left area of the table, with no obvious large position change. | Right hand: other:adjust_hand_posture: Right hand slightly opens its fingers while staying raised at the upper right area of the table, with no obvious large position change."}, {"label": "valid", "start_step": 0, "end_step": 1595, "id": "BDNYXOGIPlnK6O3JKrF99"}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: idle: Right hand remains empty and raised at the upper right of the table without obvious movement or posture change."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach: Right hand moves downward toward the colorful lego blocks on the table with an empty hand, approaching the blocks without forming a closed grasp."}, {"label": "subtasks", "start_step": 120, "end_step": 374, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand closes fingers around the small light green Lego brick on the dark work surface, making fine adjustments to finger contact points and wrist angle, rotating the brick slightly to establish a stable grip."}, {"label": "subtasks", "start_step": 375, "end_step": 547, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand holds the small light green Lego brick, adjusts its position and aligns it to the connection studs on the larger stacked light green Lego brick below."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses down on the top surface of the small light green Lego brick to fasten it to the larger light green Lego brick underneath."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: retreat: Right hand moves upward and backward away from the stacked light green Lego bricks while empty."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach_grasp: Right hand moves from the area near the stacked light green Lego bricks toward the blue Lego brick, closes fingers around the blue Lego brick, and makes continuous small adjustments of fingers and wrist to form a stable grip on the brick resting on the dark surface."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift: Right hand moves upward with the grasped blue Lego brick, lifting the brick completely away from the dark supporting surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: transport: Right hand carries the lifted blue Lego brick through the air, moving the brick toward the stacked light green Lego bricks."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand positions the blue Lego brick against the top of the stacked light green Lego bricks, makes small wrist and finger adjustments to align the bricks for assembly, and attaches the blue brick to the green brick stack."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand adjusts the positions of its fingers around the blue Lego brick on the dark work surface to form a stable, secure grip on the brick."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift: Right hand holds the blue Lego brick firmly and lifts it upward until the brick is completely lifted off the dark work surface."}, {"label": "subtasks", "start_step": 885, "end_step": 951, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: transport: Right hand carries the lifted blue Lego brick, moving it horizontally toward the stacked light green Lego brick while adjusting its position to align with the light green brick's top."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: place: Right hand lowers the blue Lego brick vertically until the brick rests fully on the top surface of the light green Lego brick, supported by the light green structure."}, {"label": "subtasks", "start_step": 982, "end_step": 1101, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses vertically down on the top of the blue Lego brick, making small finger adjustments to apply steady pressure to secure the connection between the two bricks."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release: Right hand opens its fingers gradually to release its grip on the blue Lego brick, with fingers beginning to move away from the brick."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach: Right hand moves toward the orange Lego brick on the black work surface with fingers slightly spread, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand makes contact with the orange Lego brick, fingers close around the brick and adjust slightly to form a stable grip while the brick remains resting on the work surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift_transport: Right hand lifts the orange Lego brick completely off the work surface and moves the brick toward the stacked green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand aligns the orange Lego brick with the top surface of the stacked green Lego brick, presses down slightly to fit the two bricks together."}, {"label": "subtasks", "start_step": 1320, "end_step": 1424, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand makes small finger and wrist adjustments to stabilize its grip on the orange Lego brick."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: place: Right hand moves the orange Lego brick downward to place it on top of the stacked blue Lego bricks, until the brick is supported by the blue stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1551, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses down on the top surface of the orange Lego brick to secure it to the underlying blue Lego stack."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}, {"label": "home", "start_step": 1596, "end_step": 1641, "id": "m-FD5ZfyO8RoUtB9OrmXN"}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00027", "text": "Left hand: return_home: Left hand moves upward and backward toward the left home position, rotates the wrist slightly to point fingers upward, and stops stationary at the home position. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly opens its fingers while staying raised at the upper left area of the table, with no obvious large position change. | Right hand: other:adjust_hand_posture: Right hand slightly opens its fingers while staying raised at the upper right area of the table, with no obvious large position change."}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: idle: Right hand remains empty and raised at the upper right of the table without obvious movement or posture change."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach: Right hand moves downward toward the colorful lego blocks on the table with an empty hand, approaching the blocks without forming a closed grasp."}, {"label": "subtasks", "start_step": 120, "end_step": 374, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand closes fingers around the small light green Lego brick on the dark work surface, making fine adjustments to finger contact points and wrist angle, rotating the brick slightly to establish a stable grip."}, {"label": "subtasks", "start_step": 375, "end_step": 547, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand holds the small light green Lego brick, adjusts its position and aligns it to the connection studs on the larger stacked light green Lego brick below."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses down on the top surface of the small light green Lego brick to fasten it to the larger light green Lego brick underneath."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: retreat: Right hand moves upward and backward away from the stacked light green Lego bricks while empty."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach_grasp: Right hand moves from the area near the stacked light green Lego bricks toward the blue Lego brick, closes fingers around the blue Lego brick, and makes continuous small adjustments of fingers and wrist to form a stable grip on the brick resting on the dark surface."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift: Right hand moves upward with the grasped blue Lego brick, lifting the brick completely away from the dark supporting surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: transport: Right hand carries the lifted blue Lego brick through the air, moving the brick toward the stacked light green Lego bricks."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand positions the blue Lego brick against the top of the stacked light green Lego bricks, makes small wrist and finger adjustments to align the bricks for assembly, and attaches the blue brick to the green brick stack."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand adjusts the positions of its fingers around the blue Lego brick on the dark work surface to form a stable, secure grip on the brick."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift: Right hand holds the blue Lego brick firmly and lifts it upward until the brick is completely lifted off the dark work surface."}, {"label": "subtasks", "start_step": 885, "end_step": 951, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: transport: Right hand carries the lifted blue Lego brick, moving it horizontally toward the stacked light green Lego brick while adjusting its position to align with the light green brick's top."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: place: Right hand lowers the blue Lego brick vertically until the brick rests fully on the top surface of the light green Lego brick, supported by the light green structure."}, {"label": "subtasks", "start_step": 982, "end_step": 1101, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses vertically down on the top of the blue Lego brick, making small finger adjustments to apply steady pressure to secure the connection between the two bricks."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release: Right hand opens its fingers gradually to release its grip on the blue Lego brick, with fingers beginning to move away from the brick."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: reach: Right hand moves toward the orange Lego brick on the black work surface with fingers slightly spread, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand makes contact with the orange Lego brick, fingers close around the brick and adjust slightly to form a stable grip while the brick remains resting on the work surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: lift_transport: Right hand lifts the orange Lego brick completely off the work surface and moves the brick toward the stacked green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: mate: Right hand aligns the orange Lego brick with the top surface of the stacked green Lego brick, presses down slightly to fit the two bricks together."}, {"label": "subtasks", "start_step": 1320, "end_step": 1424, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: grasp: Right hand makes small finger and wrist adjustments to stabilize its grip on the orange Lego brick."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: place: Right hand moves the orange Lego brick downward to place it on top of the stacked blue Lego bricks, until the brick is supported by the blue stack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1551, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: press: Right hand presses down on the top surface of the orange Lego brick to secure it to the underlying blue Lego stack."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and raised at the upper left of the table without obvious movement or posture change. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00027", "text": "Left hand: return_home: Left hand moves upward and backward toward the left home position, rotates the wrist slightly to point fingers upward, and stops stationary at the home position. | Right hand: release_return_home: Right hand opens fingers to release the orange Lego brick on the stacked Lego blocks on the table, moves upward and backward to the right home position, and stops stationary at the position with an empty hand."}], "episode_index": 24}
+{"source_uid": "843d3ea6d9275624", "num_frames": 1285, "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": 74, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward, adjusts its finger postures, and approaches the building blocks above the black table. | Right hand: reach: Right hand moves upward, adjusts its finger postures, and approaches the blue building block above the black table."}, {"label": "valid", "start_step": 0, "end_step": 1237, "id": "UphKt82U_qPrggbP4JiqQ"}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small green block on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the small green block on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00004", "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 upward away from the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the small green block and transports it above the other green block placed on the table."}, {"label": "subtasks", "start_step": 278, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the small green block with the green block on the table to mate them together."}, {"label": "subtasks", "start_step": 338, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the small green block down onto the green block on the table to secure the assembly."}, {"label": "subtasks", "start_step": 382, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the small green block, separating from the block."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward slightly away from the assembled green blocks."}, {"label": "subtasks", "start_step": 480, "end_step": 614, "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 its fingers to form a stable grasp on the blue block on the table."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00011", "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 upwards off the table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00012", "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 horizontally to the position above the green block."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and places the blue block onto the green block for assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the grasped blue block."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the blue block downwards to tighten the assembly with the green block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the assembled blocks to the right side."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed on the table."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block off the table and transports it above the green-blue combined block."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top of the green-blue block to fit them together."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "id": "reasoning-language-00021", "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 green-blue block to secure the assembly."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the orange block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the assembled blocks without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: return_home: Left hand moves backward to its initial position on the left side while remaining empty. | Right hand: return_home: Right hand moves backward to its initial position on the right side while remaining empty."}, {"label": "home", "start_step": 1238, "end_step": 1284, "id": "u5yqm61Z7vl3N19MjkNXp"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward, adjusts its finger postures, and approaches the building blocks above the black table. | Right hand: reach: Right hand moves upward, adjusts its finger postures, and approaches the blue building block above the black table."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small green block on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the small green block on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00004", "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 upward away from the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the small green block and transports it above the other green block placed on the table."}, {"label": "subtasks", "start_step": 278, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the small green block with the green block on the table to mate them together."}, {"label": "subtasks", "start_step": 338, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the small green block down onto the green block on the table to secure the assembly."}, {"label": "subtasks", "start_step": 382, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the small green block, separating from the block."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward slightly away from the assembled green blocks."}, {"label": "subtasks", "start_step": 480, "end_step": 614, "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 its fingers to form a stable grasp on the blue block on the table."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00011", "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 upwards off the table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00012", "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 horizontally to the position above the green block."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and places the blue block onto the green block for assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the grasped blue block."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the blue block downwards to tighten the assembly with the green block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the assembled blocks to the right side."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed on the table."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block off the table and transports it above the green-blue combined block."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top of the green-blue block to fit them together."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "id": "reasoning-language-00021", "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 green-blue block to secure the assembly."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the orange block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the assembled blocks without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: return_home: Left hand moves backward to its initial position on the left side while remaining empty. | Right hand: return_home: Right hand moves backward to its initial position on the right side while remaining empty."}], "episode_index": 25}
+{"source_uid": "216477cf5f451482", "num_frames": 1116, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: idle: Right hand remains empty in the upper right raised position without active movement."}, {"label": "valid", "start_step": 0, "end_step": 1070, "id": "x8jdGjXV-1zeIVdLInPLg"}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves downward with extended fingers, approaching the small building blocks on the dark table surface without making contact with the blocks."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand makes contact with the small green and orange building blocks on the table, fingers closing and adjusting slightly to establish a grip on the blocks."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release: Right hand opens fingers to release the small light green Lego block and small orange Lego block, fully separating from both blocks by the end of the segment."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves with empty fingers toward the small light green Lego block on the dark work surface."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand adjusts extended finger positions to establish stable contact with the small light green Lego block on the dark surface without moving the block."}, {"label": "subtasks", "start_step": 255, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: push: Right hand uses extended fingers to push the small light green Lego block across the dark surface toward the larger green Lego block."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: hold: Right hand remains stationary with extended fingers contacting the small light green Lego block, which rests against the larger green Lego block with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: push_reach: Right hand index finger pushes the stacked light green Lego block slightly to shift its position on the dark gray work surface, with the finger moving away from the block toward the nearby orange Lego block."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: idle: Right hand stays stationary with the index finger resting on the small orange Lego block, no observable movement."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: other:adjust_lego_position: Right hand moves the index finger back to the stacked light green Lego block, presses and pushes the block to make small positional adjustments on the work surface, lifting the finger off the block and moving away at the end of the segment."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves toward the blue Lego block on the dark gray surface with fingers slightly spread and extended."}, {"label": "subtasks", "start_step": 502, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand curls fingers around the blue Lego block, making small adjustments to finger positions to secure the grip while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: transport: Right hand holds the secured blue Lego block and moves it horizontally toward the adjacent green Lego block."}, {"label": "subtasks", "start_step": 668, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: mate: Right hand adjusts the position of the blue Lego block to align and fit it onto the top surface of the green Lego block."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release_retreat: Right hand opens fingers to release the blue Lego block fitted on the green block, moving slightly away from the assembled blocks with an empty hand."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves toward the orange Lego block resting on the dark gray surface, with extended fingers approaching the target block."}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand curls fingers to close around the orange Lego block, adjusting finger contact points to form a stable grasp while the block remains on the dark gray supporting surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: lift: Right hand lifts the grasped orange Lego block upward until the block is completely separated from the dark gray supporting surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: transport: Right hand carries the lifted orange Lego block, moving it downward toward the stacked blue and green Lego blocks below."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: place: Right hand lowers the orange Lego block until the block rests on and is supported by the blue Lego block beneath it."}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: mate: Right hand adjusts the position of the orange Lego block slightly to align it properly with the blue Lego block below, completing the stacking alignment."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release: Right hand extends fingers to open, releasing the grasp on the orange Lego block and separating fingers from the block surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves its extended index finger downward toward the top surface of the stacked orange Lego block, with the fingertip not yet touching the block surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: press_retreat: Right hand applies downward vertical pressure on the top surface of the orange Lego block with its extended index finger, lifting the index finger upward away from the block to complete the pressing motion."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand remains empty and moves upward from the position near the stacked Lego blocks to return to the left home position. | Right hand: return_home: Right hand remains empty and moves upward from the position near the stacked Lego blocks to return to the right home position."}, {"label": "home", "start_step": 1071, "end_step": 1115, "id": "RLCKVcdMXRdRZc2_5v9ND"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: idle: Right hand remains empty in the upper right raised position without active movement."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves downward with extended fingers, approaching the small building blocks on the dark table surface without making contact with the blocks."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand makes contact with the small green and orange building blocks on the table, fingers closing and adjusting slightly to establish a grip on the blocks."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release: Right hand opens fingers to release the small light green Lego block and small orange Lego block, fully separating from both blocks by the end of the segment."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves with empty fingers toward the small light green Lego block on the dark work surface."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand adjusts extended finger positions to establish stable contact with the small light green Lego block on the dark surface without moving the block."}, {"label": "subtasks", "start_step": 255, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: push: Right hand uses extended fingers to push the small light green Lego block across the dark surface toward the larger green Lego block."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: hold: Right hand remains stationary with extended fingers contacting the small light green Lego block, which rests against the larger green Lego block with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: push_reach: Right hand index finger pushes the stacked light green Lego block slightly to shift its position on the dark gray work surface, with the finger moving away from the block toward the nearby orange Lego block."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: idle: Right hand stays stationary with the index finger resting on the small orange Lego block, no observable movement."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: other:adjust_lego_position: Right hand moves the index finger back to the stacked light green Lego block, presses and pushes the block to make small positional adjustments on the work surface, lifting the finger off the block and moving away at the end of the segment."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves toward the blue Lego block on the dark gray surface with fingers slightly spread and extended."}, {"label": "subtasks", "start_step": 502, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand curls fingers around the blue Lego block, making small adjustments to finger positions to secure the grip while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: transport: Right hand holds the secured blue Lego block and moves it horizontally toward the adjacent green Lego block."}, {"label": "subtasks", "start_step": 668, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: mate: Right hand adjusts the position of the blue Lego block to align and fit it onto the top surface of the green Lego block."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release_retreat: Right hand opens fingers to release the blue Lego block fitted on the green block, moving slightly away from the assembled blocks with an empty hand."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves toward the orange Lego block resting on the dark gray surface, with extended fingers approaching the target block."}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: grasp: Right hand curls fingers to close around the orange Lego block, adjusting finger contact points to form a stable grasp while the block remains on the dark gray supporting surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: lift: Right hand lifts the grasped orange Lego block upward until the block is completely separated from the dark gray supporting surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: transport: Right hand carries the lifted orange Lego block, moving it downward toward the stacked blue and green Lego blocks below."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: place: Right hand lowers the orange Lego block until the block rests on and is supported by the blue Lego block beneath it."}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: mate: Right hand adjusts the position of the orange Lego block slightly to align it properly with the blue Lego block below, completing the stacking alignment."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: release: Right hand extends fingers to open, releasing the grasp on the orange Lego block and separating fingers from the block surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: reach: Right hand moves its extended index finger downward toward the top surface of the stacked orange Lego block, with the fingertip not yet touching the block surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the upper left position without active movement or contact with any objects throughout the segment. | Right hand: press_retreat: Right hand applies downward vertical pressure on the top surface of the orange Lego block with its extended index finger, lifting the index finger upward away from the block to complete the pressing motion."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand remains empty and moves upward from the position near the stacked Lego blocks to return to the left home position. | Right hand: return_home: Right hand remains empty and moves upward from the position near the stacked Lego blocks to return to the right home position."}], "episode_index": 26}
+{"source_uid": "0424c4046b42f98d", "num_frames": 2864, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand moves slightly upward, adjusting finger and wrist posture while remaining empty and out of contact with any objects. | Right hand: other:adjust_hand_posture: Right hand adjusts its initial wrist and finger posture, remaining empty above the right side of the black table."}, {"label": "valid", "start_step": 0, "end_step": 2818, "id": "TFTDqCW9eUmutFMKX17w_"}, {"label": "subtasks", "start_step": 52, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:adjust_hand_posture: Right hand adjusts its initial wrist and finger posture, remaining empty above the right side of the black table."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the table, with fingers held slightly open."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp_release: Right hand fingers close to make contact with the small green lego brick, adjust position to shift the brick slightly on the black table, and open fingers to separate from the brick."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: idle: Right hand stays empty in the position above the shifted small green lego brick with no visible movement."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the table, with fingers held open."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp_release: Right hand fingers close to contact the top surface of the small green lego brick, adjust finger placement on the brick, and open fingers to separate from the brick."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves upward away from the small green lego brick, remaining empty as it retreats."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small blue lego brick on the dark gray surface, fingers approaching the brick without making contact."}, {"label": "subtasks", "start_step": 330, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand fingers make contact with the small blue lego brick, close and adjust positions to form a stable grip on the brick while the brick remains on the supporting surface."}, {"label": "subtasks", "start_step": 382, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reorient_release: Right hand rotates the gripped small blue lego brick with a small wrist rotation to adjust its upright orientation, opens fingers to release the properly positioned brick onto the supporting surface."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves upward away from the released small blue lego brick, retreating from the brick's position with an empty hand."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves toward the small green lego brick on the dark gray work surface with open fingers, approaching the target brick."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes its fingers around the small green lego brick, making small finger adjustments to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the small green lego brick fully off the work surface and moves it horizontally toward the longer green lego brick positioned to the right."}, {"label": "subtasks", "start_step": 698, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the small green lego brick onto the upper surface of the longer green lego brick, making small positional adjustments to align the small brick."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the small green lego brick, breaking contact with the brick as it tips over onto the work surface."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves with open fingers toward the tipped small green lego brick on the work surface, approaching the fallen brick."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:nudge_brick: Right hand uses extended fingers to nudge the tipped small green lego brick, adjusting its orientation to set it upright on the work surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1071, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: idle: Right hand remains empty above the work surface near the upright small green lego brick without any visible movement."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes its fingers around the upright small green lego brick, adjusting finger positions to establish a stable grip on the brick."}, {"label": "subtasks", "start_step": 1118, "end_step": 1199, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the small green lego brick fully off the work surface and moves it horizontally toward the longer green lego brick below."}, {"label": "subtasks", "start_step": 1200, "end_step": 1341, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the small green lego brick onto the upper surface of the longer green lego brick, making small alignment adjustments and applying gentle pressure to seat the brick."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the stacked small green lego brick, fully separating from contact with the brick."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves away from the stacked lego bricks while empty, retreating from the operation position."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach_grasp: Right hand moves toward the small upright blue lego brick resting on the dark gray table surface, adjusting finger positions to close around the brick and form a stable grasp."}, {"label": "subtasks", "start_step": 1485, "end_step": 1709, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: push: Right hand maintains contact with the grasped small blue lego brick, pushing the brick leftward across the dark table surface until it rests adjacent to the stacked green lego bricks."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the held small blue lego brick, lifting the digits slightly away from the sides of the brick."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: press_retreat: Right hand moves its index finger down to apply downward pressure on the top surface of the small blue lego brick, lifting the finger away from the brick as pressure is completed."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves rightward while empty to approach the small orange lego brick on the dark gray flat surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes fingers around the small orange lego brick, adjusting finger positions to establish a stable grip on the brick resting on the surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 2519, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:repeatedly_flip_lego: Right hand grips the small orange lego brick, repeatedly lifting it slightly off the dark gray surface, rotating it around multiple axes to change its facing direction, and placing it back onto the surface, with continuous small adjustments of fingers and wrist throughout the process."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the small orange lego brick resting on the dark work surface, with the brick remaining on the surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2579, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the grasped orange lego brick clear of the dark surface and moves it horizontally leftward to position it directly over the existing stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 2580, "end_step": 2774, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the orange lego brick onto the top of the stacked green and blue bricks, makes small positional adjustments to align the brick and applies downward pressure to seat it properly."}, {"label": "subtasks", "start_step": 2775, "end_step": 2804, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release_retreat: Right hand opens its fingers to release the seated orange lego brick, then moves upward and rightward away from the lego stack with an empty hand."}, {"label": "subtasks", "start_step": 2805, "end_step": 2863, "id": "reasoning-language-00037", "text": "Left hand: retreat: Left hand remains empty, moves upward and backward away from the stacked lego bricks on the dark table surface, with fingers gradually closing during movement. | Right hand: retreat: Right hand remains empty, moves upward and backward away from the stacked lego bricks on the dark table surface, with fingers gradually adjusting posture during movement."}, {"label": "home", "start_step": 2819, "end_step": 2863, "id": "mXC_301U-Su_J1VAZCeBI"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand moves slightly upward, adjusting finger and wrist posture while remaining empty and out of contact with any objects. | Right hand: other:adjust_hand_posture: Right hand adjusts its initial wrist and finger posture, remaining empty above the right side of the black table."}, {"label": "subtasks", "start_step": 52, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:adjust_hand_posture: Right hand adjusts its initial wrist and finger posture, remaining empty above the right side of the black table."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the table, with fingers held slightly open."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp_release: Right hand fingers close to make contact with the small green lego brick, adjust position to shift the brick slightly on the black table, and open fingers to separate from the brick."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: idle: Right hand stays empty in the position above the shifted small green lego brick with no visible movement."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the table, with fingers held open."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp_release: Right hand fingers close to contact the top surface of the small green lego brick, adjust finger placement on the brick, and open fingers to separate from the brick."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves upward away from the small green lego brick, remaining empty as it retreats."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves downward toward the small blue lego brick on the dark gray surface, fingers approaching the brick without making contact."}, {"label": "subtasks", "start_step": 330, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand fingers make contact with the small blue lego brick, close and adjust positions to form a stable grip on the brick while the brick remains on the supporting surface."}, {"label": "subtasks", "start_step": 382, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reorient_release: Right hand rotates the gripped small blue lego brick with a small wrist rotation to adjust its upright orientation, opens fingers to release the properly positioned brick onto the supporting surface."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves upward away from the released small blue lego brick, retreating from the brick's position with an empty hand."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves toward the small green lego brick on the dark gray work surface with open fingers, approaching the target brick."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes its fingers around the small green lego brick, making small finger adjustments to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the small green lego brick fully off the work surface and moves it horizontally toward the longer green lego brick positioned to the right."}, {"label": "subtasks", "start_step": 698, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the small green lego brick onto the upper surface of the longer green lego brick, making small positional adjustments to align the small brick."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the small green lego brick, breaking contact with the brick as it tips over onto the work surface."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves with open fingers toward the tipped small green lego brick on the work surface, approaching the fallen brick."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:nudge_brick: Right hand uses extended fingers to nudge the tipped small green lego brick, adjusting its orientation to set it upright on the work surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1071, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: idle: Right hand remains empty above the work surface near the upright small green lego brick without any visible movement."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes its fingers around the upright small green lego brick, adjusting finger positions to establish a stable grip on the brick."}, {"label": "subtasks", "start_step": 1118, "end_step": 1199, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the small green lego brick fully off the work surface and moves it horizontally toward the longer green lego brick below."}, {"label": "subtasks", "start_step": 1200, "end_step": 1341, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the small green lego brick onto the upper surface of the longer green lego brick, making small alignment adjustments and applying gentle pressure to seat the brick."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the stacked small green lego brick, fully separating from contact with the brick."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: retreat: Right hand moves away from the stacked lego bricks while empty, retreating from the operation position."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach_grasp: Right hand moves toward the small upright blue lego brick resting on the dark gray table surface, adjusting finger positions to close around the brick and form a stable grasp."}, {"label": "subtasks", "start_step": 1485, "end_step": 1709, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: push: Right hand maintains contact with the grasped small blue lego brick, pushing the brick leftward across the dark table surface until it rests adjacent to the stacked green lego bricks."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release: Right hand opens its fingers to release the held small blue lego brick, lifting the digits slightly away from the sides of the brick."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: press_retreat: Right hand moves its index finger down to apply downward pressure on the top surface of the small blue lego brick, lifting the finger away from the brick as pressure is completed."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: reach: Right hand moves rightward while empty to approach the small orange lego brick on the dark gray flat surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand closes fingers around the small orange lego brick, adjusting finger positions to establish a stable grip on the brick resting on the surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 2519, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: other:repeatedly_flip_lego: Right hand grips the small orange lego brick, repeatedly lifting it slightly off the dark gray surface, rotating it around multiple axes to change its facing direction, and placing it back onto the surface, with continuous small adjustments of fingers and wrist throughout the process."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the small orange lego brick resting on the dark work surface, with the brick remaining on the surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2579, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: lift_transport: Right hand lifts the grasped orange lego brick clear of the dark surface and moves it horizontally leftward to position it directly over the existing stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 2580, "end_step": 2774, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: place: Right hand lowers the orange lego brick onto the top of the stacked green and blue bricks, makes small positional adjustments to align the brick and applies downward pressure to seat it properly."}, {"label": "subtasks", "start_step": 2775, "end_step": 2804, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the upper left area of the frame with no visible movement. | Right hand: release_retreat: Right hand opens its fingers to release the seated orange lego brick, then moves upward and rightward away from the lego stack with an empty hand."}, {"label": "subtasks", "start_step": 2805, "end_step": 2863, "id": "reasoning-language-00037", "text": "Left hand: retreat: Left hand remains empty, moves upward and backward away from the stacked lego bricks on the dark table surface, with fingers gradually closing during movement. | Right hand: retreat: Right hand remains empty, moves upward and backward away from the stacked lego bricks on the dark table surface, with fingers gradually adjusting posture during movement."}], "episode_index": 27}
+{"source_uid": "ed04f75c39cf98cf", "num_frames": 2594, "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": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward to the upper left area of the table while remaining empty. | Right hand: reach: Right hand moves downward toward the blue block on the table while remaining empty."}, {"label": "valid", "start_step": 0, "end_step": 2549, "id": "VCorts9c1PpHclVwdt4c_"}, {"label": "subtasks", "start_step": 90, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the small green block on the black table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small green block."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the small green block on the table without any movement."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport_place: Right hand transports the small green block to the side of the larger green block and places it on the table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the larger green block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the larger green block slightly to a new position on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_retreat: Right hand releases the larger green block and moves away from the operation position."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the blue block on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue block on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the blue block still above the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the grasped blue block towards the green block on the table."}, {"label": "subtasks", "start_step": 645, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand places the blue block onto the top of the green block and adjusts to assemble them together."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the blue block on top of the yellow base block by opening its fingers."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the blue block on the yellow base block on the table."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press_retreat: Right hand presses the blue block onto the yellow base block, then moves away from the block."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed on the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 1041, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the orange block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1334, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand carries the orange block and moves it toward the combined blue-green block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top of the blue-green block and presses to complete assembly."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand opens its fingers to release the orange block."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: retreat: Right hand moves slightly backward away from the assembled blocks."}, {"label": "subtasks", "start_step": 1455, "end_step": 1694, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the orange block on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: push: Right hand pushes the orange block towards the green and blue blocks on the table."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the orange block on the table near the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1830, "end_step": 1927, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, making slight grip adjustments."}, {"label": "subtasks", "start_step": 1928, "end_step": 2009, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table and moves it to the right side of the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2077, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the orange block onto the right area of the table and releases its grip on the block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the orange block placed on the right area of the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2211, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the orange block and adjusts its position slightly on the table."}, {"label": "subtasks", "start_step": 2212, "end_step": 2294, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand holds the orange block and moves it towards the stacked green and blue blocks on the left."}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand holds the orange block and moves it towards the stacked blue and green blocks."}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand lowers the orange block onto the top surface of the green block."}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand adjusts the orange block to align with the green block for assembly."}, {"label": "subtasks", "start_step": 2460, "end_step": 2519, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the orange block downwards to secure it onto the stacked blocks."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00036", "text": "Left hand: retreat: Left hand moves backward to the left side of the table without holding any object. | Right hand: retreat: Right hand moves backward to the right side of the table without holding any object."}, {"label": "home", "start_step": 2550, "end_step": 2593, "id": "oiXmeVPHSczzA6U1ABOVC"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward to the upper left area of the table while remaining empty. | Right hand: reach: Right hand moves downward toward the blue block on the table while remaining empty."}, {"label": "subtasks", "start_step": 90, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the small green block on the black table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small green block."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the small green block on the table without any movement."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport_place: Right hand transports the small green block to the side of the larger green block and places it on the table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the larger green block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the larger green block slightly to a new position on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_retreat: Right hand releases the larger green block and moves away from the operation position."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the blue block on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue block on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the blue block still above the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the grasped blue block towards the green block on the table."}, {"label": "subtasks", "start_step": 645, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand places the blue block onto the top of the green block and adjusts to assemble them together."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the blue block on top of the yellow base block by opening its fingers."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the blue block on the yellow base block on the table."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press_retreat: Right hand presses the blue block onto the yellow base block, then moves away from the block."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed on the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 1041, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the orange block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1334, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand carries the orange block and moves it toward the combined blue-green block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top of the blue-green block and presses to complete assembly."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand opens its fingers to release the orange block."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: retreat: Right hand moves slightly backward away from the assembled blocks."}, {"label": "subtasks", "start_step": 1455, "end_step": 1694, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the orange block on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: push: Right hand pushes the orange block towards the green and blue blocks on the table."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the orange block on the table near the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1830, "end_step": 1927, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange block, making slight grip adjustments."}, {"label": "subtasks", "start_step": 1928, "end_step": 2009, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table and moves it to the right side of the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2077, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the orange block onto the right area of the table and releases its grip on the block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves towards the orange block placed on the right area of the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2211, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the orange block and adjusts its position slightly on the table."}, {"label": "subtasks", "start_step": 2212, "end_step": 2294, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand holds the orange block and moves it towards the stacked green and blue blocks on the left."}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand holds the orange block and moves it towards the stacked blue and green blocks."}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand lowers the orange block onto the top surface of the green block."}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand adjusts the orange block to align with the green block for assembly."}, {"label": "subtasks", "start_step": 2460, "end_step": 2519, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the orange block downwards to secure it onto the stacked blocks."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00036", "text": "Left hand: retreat: Left hand moves backward to the left side of the table without holding any object. | Right hand: retreat: Right hand moves backward to the right side of the table without holding any object."}], "episode_index": 28}
+{"source_uid": "965ce1ccedbdf074", "num_frames": 2314, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects, fingers held in a slightly extended posture during the movement. | Right hand: other:move_upward: Right hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects."}, {"label": "valid", "start_step": 0, "end_step": 2267, "id": "Xtb7j4-omYCdgvogXClgY"}, {"label": "subtasks", "start_step": 60, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: other:move_upward: Left hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects, fingers held in a slightly extended posture during the movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the black table surface, remaining empty with fingers slightly adjusting as it approaches the target."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves downward toward the small green lego brick on the black table surface, remaining empty with fingers slightly adjusting as it approaches the target."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand moves slightly toward the small green 1x1 Lego brick and closes fingers to form a grasp on the brick resting on the dark surface."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about half a turn horizontally, keeping the brick in contact with the dark surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick, which stays resting on the dark surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: retreat: Right hand lifts slightly and moves a short distance backward away from the released Lego brick, remaining empty."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves downward toward the small green 1x1 Lego brick on the dark surface, approaching to re-grasp."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers to firmly grasp the small green 1x1 Lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about a quarter turn, maintaining contact with the dark surface."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick onto the dark surface."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves a short distance toward the repositioned small green 1x1 Lego brick, staying close to the dark surface."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to grasp the small green 1x1 Lego brick, making small adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about an eighth of a turn, shifting its position slightly on the dark surface."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand presses a finger against the top surface of the small green 1x1 Lego brick, applying downward force perpendicular to the dark surface."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand repositions fingers and closes them to firmly grasp the small green 1x1 Lego brick on the dark surface."}, {"label": "subtasks", "start_step": 562, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about half a turn, flipping the brick to show its studded side while keeping it near the dark surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick, which rests on the dark surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves toward the small green 1x1 Lego brick on the dark surface, positioning to re-grasp the brick."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers to grasp the small green 1x1 Lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about a quarter turn, adjusting its position slightly on the dark surface."}, {"label": "subtasks", "start_step": 802, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand repeatedly taps the top surface of the small green 1x1 Lego brick with a finger, applying light downward force perpendicular to the dark surface."}, {"label": "subtasks", "start_step": 862, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers around the small green 1x1 Lego brick, adjusting grip to prepare for lifting."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift: Right hand lifts the grasped small green 1x1 Lego brick upward, fully separating it from the dark supporting surface."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand grips the small green 1x1 Lego brick, lifts it off the dark work surface, and moves it downward to the position above the larger green Lego brick."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: place: Right hand lowers the small green 1x1 Lego brick until it rests on the surface of the larger green Lego brick."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: hold: Right hand holds the small green 1x1 Lego brick as it rests on the larger green Lego brick, with no visible movement of the hand or brick."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: mate: Right hand adjusts the position of the small green 1x1 Lego brick, aligning it with the connection studs on the larger green Lego brick to fit the two bricks together."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: hold: Right hand remains stationary on the assembled small green 1x1 Lego brick, holding it in place on the larger green Lego brick."}, {"label": "subtasks", "start_step": 1185, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the blue 1x1 lego brick on the dark work surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1275, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand lifts the grasped blue 1x1 lego brick off the dark surface and moves it leftward and downward toward the adjacent green lego brick."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: place: Right hand lowers the blue 1x1 lego brick onto the top surface of the green lego brick until the blue brick is fully supported by the green brick."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens its fingers to release the blue 1x1 lego brick positioned on the green lego brick, separating fingers from the brick surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1477, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand repeatedly presses and taps the small orange block stacked on the blue-green building block until the block detaches and falls onto the dark table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves with empty fingers toward the small orange block that has fallen onto the dark table surface."}, {"label": "subtasks", "start_step": 1508, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient_release: Right hand grips the small orange block on the table, rotates it to adjust its orientation, and releases the block as it tips over onto the table."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: idle: Right hand stays empty and stationary above the orange block without making contact with any objects."}, {"label": "subtasks", "start_step": 1650, "end_step": 1761, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient_release: Right hand moves down to contact the orange block, rotates and shifts the block slightly to adjust its position and orientation, and releases contact with the block."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves with empty fingers back toward the orange block on the table to approach it for further adjustment."}, {"label": "subtasks", "start_step": 1800, "end_step": 1994, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand grips the orange block, repeatedly rotates the block and adjusts its grip with small finger and wrist movements to modify the block's orientation."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release_retreat: Right hand releases its grip on the orange block and moves a short distance backward away from the block with empty fingers before coming to a stop."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand moves back to contact the orange block, making small rotational and positional adjustments to the block with slight finger and wrist movements."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers around the orange 1x1 lego brick resting on the dark gray table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand lifts the grasped orange 1x1 lego brick off the dark gray table surface and moves it leftward to position directly above the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 2160, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: mate_release: Right hand makes slight positional and rotational adjustments to the grasped orange 1x1 lego brick to align it with the top surface of the blue lego brick, opens fingers to release the brick once it is stably supported by the blue lego brick."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: retreat: Right hand moves empty upward and rightward away from the stacked lego bricks."}, {"label": "subtasks", "start_step": 2265, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: return_home: Left hand moves backward empty toward its initial resting position, with fingers gradually adjusting from an extended pointing posture to a relaxed closed posture during movement. | Right hand: return_home: Right hand moves backward empty toward its initial resting position, with fingers gradually adjusting from an extended pointing posture to a relaxed closed posture during movement."}, {"label": "home", "start_step": 2268, "end_step": 2313, "id": "90NcRpTIHqS8IctVuIFKL"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects, fingers held in a slightly extended posture during the movement. | Right hand: other:move_upward: Right hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects."}, {"label": "subtasks", "start_step": 60, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: other:move_upward: Left hand moves upward from its initial resting position to a raised position, remaining empty without contacting any objects, fingers held in a slightly extended posture during the movement. | Right hand: reach: Right hand moves downward toward the small green lego brick on the black table surface, remaining empty with fingers slightly adjusting as it approaches the target."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves downward toward the small green lego brick on the black table surface, remaining empty with fingers slightly adjusting as it approaches the target."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand moves slightly toward the small green 1x1 Lego brick and closes fingers to form a grasp on the brick resting on the dark surface."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about half a turn horizontally, keeping the brick in contact with the dark surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick, which stays resting on the dark surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: retreat: Right hand lifts slightly and moves a short distance backward away from the released Lego brick, remaining empty."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves downward toward the small green 1x1 Lego brick on the dark surface, approaching to re-grasp."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers to firmly grasp the small green 1x1 Lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about a quarter turn, maintaining contact with the dark surface."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick onto the dark surface."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves a short distance toward the repositioned small green 1x1 Lego brick, staying close to the dark surface."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to grasp the small green 1x1 Lego brick, making small adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about an eighth of a turn, shifting its position slightly on the dark surface."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand presses a finger against the top surface of the small green 1x1 Lego brick, applying downward force perpendicular to the dark surface."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand repositions fingers and closes them to firmly grasp the small green 1x1 Lego brick on the dark surface."}, {"label": "subtasks", "start_step": 562, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about half a turn, flipping the brick to show its studded side while keeping it near the dark surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens fingers to release the small green 1x1 Lego brick, which rests on the dark surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves toward the small green 1x1 Lego brick on the dark surface, positioning to re-grasp the brick."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers to grasp the small green 1x1 Lego brick resting on the dark surface."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand rotates the grasped small green 1x1 Lego brick about a quarter turn, adjusting its position slightly on the dark surface."}, {"label": "subtasks", "start_step": 802, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand repeatedly taps the top surface of the small green 1x1 Lego brick with a finger, applying light downward force perpendicular to the dark surface."}, {"label": "subtasks", "start_step": 862, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers around the small green 1x1 Lego brick, adjusting grip to prepare for lifting."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift: Right hand lifts the grasped small green 1x1 Lego brick upward, fully separating it from the dark supporting surface."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand grips the small green 1x1 Lego brick, lifts it off the dark work surface, and moves it downward to the position above the larger green Lego brick."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: place: Right hand lowers the small green 1x1 Lego brick until it rests on the surface of the larger green Lego brick."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: hold: Right hand holds the small green 1x1 Lego brick as it rests on the larger green Lego brick, with no visible movement of the hand or brick."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: mate: Right hand adjusts the position of the small green 1x1 Lego brick, aligning it with the connection studs on the larger green Lego brick to fit the two bricks together."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: hold: Right hand remains stationary on the assembled small green 1x1 Lego brick, holding it in place on the larger green Lego brick."}, {"label": "subtasks", "start_step": 1185, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the blue 1x1 lego brick on the dark work surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1275, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand lifts the grasped blue 1x1 lego brick off the dark surface and moves it leftward and downward toward the adjacent green lego brick."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: place: Right hand lowers the blue 1x1 lego brick onto the top surface of the green lego brick until the blue brick is fully supported by the green brick."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release: Right hand opens its fingers to release the blue 1x1 lego brick positioned on the green lego brick, separating fingers from the brick surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1477, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: press: Right hand repeatedly presses and taps the small orange block stacked on the blue-green building block until the block detaches and falls onto the dark table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves with empty fingers toward the small orange block that has fallen onto the dark table surface."}, {"label": "subtasks", "start_step": 1508, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient_release: Right hand grips the small orange block on the table, rotates it to adjust its orientation, and releases the block as it tips over onto the table."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: idle: Right hand stays empty and stationary above the orange block without making contact with any objects."}, {"label": "subtasks", "start_step": 1650, "end_step": 1761, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient_release: Right hand moves down to contact the orange block, rotates and shifts the block slightly to adjust its position and orientation, and releases contact with the block."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reach: Right hand moves with empty fingers back toward the orange block on the table to approach it for further adjustment."}, {"label": "subtasks", "start_step": 1800, "end_step": 1994, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand grips the orange block, repeatedly rotates the block and adjusts its grip with small finger and wrist movements to modify the block's orientation."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: release_retreat: Right hand releases its grip on the orange block and moves a short distance backward away from the block with empty fingers before coming to a stop."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: reorient: Right hand moves back to contact the orange block, making small rotational and positional adjustments to the block with slight finger and wrist movements."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: grasp: Right hand closes fingers around the orange 1x1 lego brick resting on the dark gray table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: lift_transport: Right hand lifts the grasped orange 1x1 lego brick off the dark gray table surface and moves it leftward to position directly above the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 2160, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: mate_release: Right hand makes slight positional and rotational adjustments to the grasped orange 1x1 lego brick to align it with the top surface of the blue lego brick, opens fingers to release the brick once it is stably supported by the blue lego brick."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays stationary in the raised position, remaining empty with no observable movement or contact with surrounding objects. | Right hand: retreat: Right hand moves empty upward and rightward away from the stacked lego bricks."}, {"label": "subtasks", "start_step": 2265, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: return_home: Left hand moves backward empty toward its initial resting position, with fingers gradually adjusting from an extended pointing posture to a relaxed closed posture during movement. | Right hand: return_home: Right hand moves backward empty toward its initial resting position, with fingers gradually adjusting from an extended pointing posture to a relaxed closed posture during movement."}], "episode_index": 29}
+{"source_uid": "492420e95d172c30", "num_frames": 2068, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and slightly rightward to the upper left area above the black table with fingers open. | Right hand: reach: Right hand moves upward and slightly leftward above the black table with fingers open."}, {"label": "valid", "start_step": 0, "end_step": 2021, "id": "v2RxT2GpfP6TTxjSuXNTq"}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves upward and slightly leftward above the black table with fingers open."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves left to approach the small green cube on the table."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small green cube on the table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 218, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: hold: Right hand holds the small green cube on the table without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand grasps the green block on the table with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reorient: Right hand reorients the green block on the table with slight rotation, position remains mostly unchanged."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and transports it leftward."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: place_release: Right hand places the small green block on the table and releases it."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves toward the small green block on the table with fingers open."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand grasps the small green block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 622, "end_step": 2009, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: hold: Right hand holds the small green block on the table without moving."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00014", "text": "Left hand: return_home: Left hand moves downward and back to the initial left position beside the table. | Right hand: retreat: Right hand moves upward and rightward away from the stacked building blocks on the table."}, {"label": "home", "start_step": 2022, "end_step": 2067, "id": "A_KghZ0uU4d3N75TlsdT9"}, {"label": "subtasks", "start_step": 2048, "end_step": 2054, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the initial left position beside the table without moving. | Right hand: retreat: Right hand moves upward and rightward away from the stacked building blocks on the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2067, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the initial left position beside the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and slightly rightward to the upper left area above the black table with fingers open. | Right hand: reach: Right hand moves upward and slightly leftward above the black table with fingers open."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves upward and slightly leftward above the black table with fingers open."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves left to approach the small green cube on the table."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small green cube on the table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 218, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: hold: Right hand holds the small green cube on the table without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand grasps the green block on the table with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reorient: Right hand reorients the green block on the table with slight rotation, position remains mostly unchanged."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and transports it leftward."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: place_release: Right hand places the small green block on the table and releases it."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: reach: Right hand moves toward the small green block on the table with fingers open."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: grasp: Right hand grasps the small green block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 622, "end_step": 2009, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area above the black table without moving. | Right hand: hold: Right hand holds the small green block on the table without moving."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00014", "text": "Left hand: return_home: Left hand moves downward and back to the initial left position beside the table. | Right hand: retreat: Right hand moves upward and rightward away from the stacked building blocks on the table."}, {"label": "subtasks", "start_step": 2048, "end_step": 2054, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the initial left position beside the table without moving. | Right hand: retreat: Right hand moves upward and rightward away from the stacked building blocks on the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2067, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the initial left position beside the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}], "episode_index": 30}
+{"source_uid": "f33968c5aac75771", "num_frames": 2223, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward to the left upper area of the table with fingers open, no object is contacted. | Right hand: reach_grasp: Right hand moves forward and downward toward the small green building block on the table, then makes contact with the block to initiate grasping."}, {"label": "valid", "start_step": 0, "end_step": 2179, "id": "4zbDY8zwBtBSiH_GxfUAJ"}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach_grasp: Right hand moves forward and downward toward the small green building block on the table, then makes contact with the block to initiate grasping."}, {"label": "subtasks", "start_step": 120, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts its fingers to grasp the small green building block on the black surface."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: transport: Right hand transports the grasped small green building block downward toward the larger flat green building block on the table."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: place: Right hand places the small green building block onto the larger flat green building block on the table."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand adjusts the small green building block to align with the larger flat green building block underneath."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the small green building block by opening its fingers."}, {"label": "subtasks", "start_step": 405, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts fingers to grasp the green building block on the table."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the blue building block on the table with fingers open."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers to grasp the blue building block on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes its fingers to grasp the blue building block placed on the grey surface."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the blue building block off the grey surface and transports it downward toward the green building block."}, {"label": "subtasks", "start_step": 638, "end_step": 801, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand aligns the blue building block with the green building block and presses to assemble them together."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand opens its fingers to release the blue building block and moves slightly away."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the orange building block on the table with fingers open."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers around the orange building block on the table and adjusts to form stable grip."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the orange building block from the table and transports it toward the stacked green and blue building blocks."}, {"label": "subtasks", "start_step": 975, "end_step": 1057, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers to grasp the orange building block on the gray table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift: Right hand lifts the grasped orange building block upwards from the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the orange building block as it slips from the grasp, the block falls back to the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the orange building block on the dark table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1297, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers around the orange building block, making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand opens fingers to release the orange building block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1447, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts its fingers to grasp the orange building block on the table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the grasped orange building block and moves it toward the blue building block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1581, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand aligns the orange building block with the blue building block to attempt assembly."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the orange building block and moves slightly away from the blocks."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00028", "text": "Left hand: other:slight_lift_move: Left hand lifts slightly and moves at the left side of the operation area without contacting any operating objects. | Right hand: reach: Right hand moves towards the orange building block on the black tabletop."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves towards the orange building block on the black tabletop."}, {"label": "subtasks", "start_step": 1695, "end_step": 1859, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers and adjusts contact position to grasp the orange building block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: hold: Right hand holds the orange building block stably without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts fingers to grasp the orange building block on the table."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the grasped orange building block downward to the position above the blue building block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the orange building block onto the top of the blue building block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the orange building block to fit it firmly with the blue building block."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00036", "text": "Left hand: return_home: Left hand moves empty back to its initial home position on the left side of the workspace. | Right hand: return_home: Right hand moves empty back to its initial home position on the right side of the workspace."}, {"label": "home", "start_step": 2180, "end_step": 2222, "id": "M1itCT-icucElsK4Ixjxs"}, {"label": "subtasks", "start_step": 2205, "end_step": 2211, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at its left home position. | Right hand: return_home: Right hand moves empty back to its initial home position on the right side of the workspace."}, {"label": "subtasks", "start_step": 2212, "end_step": 2222, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at its left home position. | Right hand: idle: Right hand remains empty and stationary at its right home position."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward to the left upper area of the table with fingers open, no object is contacted. | Right hand: reach_grasp: Right hand moves forward and downward toward the small green building block on the table, then makes contact with the block to initiate grasping."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach_grasp: Right hand moves forward and downward toward the small green building block on the table, then makes contact with the block to initiate grasping."}, {"label": "subtasks", "start_step": 120, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts its fingers to grasp the small green building block on the black surface."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: transport: Right hand transports the grasped small green building block downward toward the larger flat green building block on the table."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: place: Right hand places the small green building block onto the larger flat green building block on the table."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand adjusts the small green building block to align with the larger flat green building block underneath."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the small green building block by opening its fingers."}, {"label": "subtasks", "start_step": 405, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts fingers to grasp the green building block on the table."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the blue building block on the table with fingers open."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers to grasp the blue building block on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes its fingers to grasp the blue building block placed on the grey surface."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the blue building block off the grey surface and transports it downward toward the green building block."}, {"label": "subtasks", "start_step": 638, "end_step": 801, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand aligns the blue building block with the green building block and presses to assemble them together."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand opens its fingers to release the blue building block and moves slightly away."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the orange building block on the table with fingers open."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers around the orange building block on the table and adjusts to form stable grip."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the orange building block from the table and transports it toward the stacked green and blue building blocks."}, {"label": "subtasks", "start_step": 975, "end_step": 1057, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers to grasp the orange building block on the gray table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift: Right hand lifts the grasped orange building block upwards from the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the orange building block as it slips from the grasp, the block falls back to the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: reach: Right hand moves toward the orange building block on the dark table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1297, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand closes fingers around the orange building block, making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand opens fingers to release the orange building block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1447, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: grasp: Right hand adjusts its fingers to grasp the orange building block on the table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: lift_transport: Right hand lifts the grasped orange building block and moves it toward the blue building block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1581, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: mate: Right hand aligns the orange building block with the blue building block to attempt assembly."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays stationary at the left upper area of the table, empty with fingers slightly open. | Right hand: release: Right hand releases the orange building block and moves slightly away from the blocks."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00028", "text": "Left hand: other:slight_lift_move: Left hand lifts slightly and moves at the left side of the operation area without contacting any operating objects. | Right hand: reach: Right hand moves towards the orange building block on the black tabletop."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves towards the orange building block on the black tabletop."}, {"label": "subtasks", "start_step": 1695, "end_step": 1859, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers and adjusts contact position to grasp the orange building block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: hold: Right hand holds the orange building block stably without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts fingers to grasp the orange building block on the table."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the grasped orange building block downward to the position above the blue building block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the orange building block onto the top of the blue building block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the orange building block to fit it firmly with the blue building block."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00036", "text": "Left hand: return_home: Left hand moves empty back to its initial home position on the left side of the workspace. | Right hand: return_home: Right hand moves empty back to its initial home position on the right side of the workspace."}, {"label": "subtasks", "start_step": 2205, "end_step": 2211, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at its left home position. | Right hand: return_home: Right hand moves empty back to its initial home position on the right side of the workspace."}, {"label": "subtasks", "start_step": 2212, "end_step": 2222, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at its left home position. | Right hand: idle: Right hand remains empty and stationary at its right home position."}], "episode_index": 31}
+{"source_uid": "0e6a66fc9a421f49", "num_frames": 1398, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:reposition_and_open_fingers: Left hand repositions from its initial neutral upright pose, rotates the wrist slightly upward, and opens its fingers from a closed to a spread posture while moving to a stable raised position on the left. | Right hand: reach: Right hand repositions from its initial neutral upright pose, moves downward toward the scattered building blocks on the black table surface, rotates the wrist slightly inward, and opens its fingers as it approaches the blocks."}, {"label": "valid", "start_step": 0, "end_step": 1355, "id": "Qr2DKFo9qIrEvrDMc42si"}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand repositions from its initial neutral upright pose, moves downward toward the scattered building blocks on the black table surface, rotates the wrist slightly inward, and opens its fingers as it approaches the blocks."}, {"label": "subtasks", "start_step": 90, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its fingers around the small green 2x2 building block, makes small positional adjustments to align the fingers before closing them to form a stable grip on the block, which remains on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped small green 2x2 block upward until the block is completely raised off the table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted small green 2x2 block through the air, moving it downward and to the right toward the large green 2x4 building block on the table."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the small green 2x2 block onto the upper surface of the large green 2x4 block until the small block is stably supported by the large block."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: hold: Right hand maintains contact with the small green 2x2 block placed on the large green block, with no observable movement of the hand, fingers, or blocks."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts finger contact points on the small green brick, slightly moving and rotating the brick to adjust its position on the long green brick."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand releases the small green brick, fingers moving away from the brick surface to break contact."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the blue 2x2 lego brick on the dark flat surface with fingers held in an open posture."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand curls fingers around the blue 2x2 lego brick, making slight finger adjustments to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the stably grasped blue 2x2 lego brick upward until the brick is completely separated from the dark supporting surface."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the grasped blue 2x2 lego brick, moving it horizontally toward the nearby green lego bricks on the surface."}, {"label": "subtasks", "start_step": 525, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand contacts the blue brick near the green brick on the table, adjusting fingers and wrist position to form a stable grasp while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped blue brick completely off the table surface, moving it horizontally rightward across the table toward the area next to the orange brick."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the grasped blue brick down to the table surface, setting it stably on the right section of the table adjacent to the orange brick."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the blue brick on the dark gray surface with fingers held open."}, {"label": "subtasks", "start_step": 788, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts finger placement around the blue brick, slightly closing and repositioning fingers to form a grip on the brick."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its fingers around the blue brick resting on the dark work surface to form a stable grip."}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand moves the stably grasped blue brick leftward across the dark work surface toward the green brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand sets the blue brick into a stable supported position on the dark work surface adjacent to the green brick."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the blue brick, breaking contact with the brick surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the 2x2 orange lego brick placed on the dark table surface, with fingers held in a slightly open posture as it approaches the target brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand curls its fingers around the 2x2 orange lego brick, making small adjustments to finger contact positions to establish a grip on the brick that remains resting on the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand firmly holds the orange brick and moves it down-left toward the stacked green and blue bricks on the dark table surface, keeping the brick in the air."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the orange brick to place it onto the top of the stacked green and blue bricks, until the brick is fully supported by the stack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand gradually opens all fingers to release the orange brick, slowly separating the fingers from the brick surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: press: Right hand moves the index finger vertically downward to press the top surface of the placed orange brick, applying downward pressure."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: retreat: Right hand moves empty upward and rightward to retreat from the position of the stacked bricks."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward and outward empty-handed away from the colorful block stack at the center of the table, with fingers gradually adjusting to point upward, until it stops at its initial left resting position. | Right hand: return_home: Right hand moves upward and outward empty-handed away from the colorful block stack at the center of the table, with fingers gradually adjusting to point upward, until it stops at its initial right resting position."}, {"label": "home", "start_step": 1356, "end_step": 1397, "id": "xxept7xGef__RhHS1mumx"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:reposition_and_open_fingers: Left hand repositions from its initial neutral upright pose, rotates the wrist slightly upward, and opens its fingers from a closed to a spread posture while moving to a stable raised position on the left. | Right hand: reach: Right hand repositions from its initial neutral upright pose, moves downward toward the scattered building blocks on the black table surface, rotates the wrist slightly inward, and opens its fingers as it approaches the blocks."}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand repositions from its initial neutral upright pose, moves downward toward the scattered building blocks on the black table surface, rotates the wrist slightly inward, and opens its fingers as it approaches the blocks."}, {"label": "subtasks", "start_step": 90, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its fingers around the small green 2x2 building block, makes small positional adjustments to align the fingers before closing them to form a stable grip on the block, which remains on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped small green 2x2 block upward until the block is completely raised off the table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted small green 2x2 block through the air, moving it downward and to the right toward the large green 2x4 building block on the table."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the small green 2x2 block onto the upper surface of the large green 2x4 block until the small block is stably supported by the large block."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: hold: Right hand maintains contact with the small green 2x2 block placed on the large green block, with no observable movement of the hand, fingers, or blocks."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts finger contact points on the small green brick, slightly moving and rotating the brick to adjust its position on the long green brick."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand releases the small green brick, fingers moving away from the brick surface to break contact."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the blue 2x2 lego brick on the dark flat surface with fingers held in an open posture."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand curls fingers around the blue 2x2 lego brick, making slight finger adjustments to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the stably grasped blue 2x2 lego brick upward until the brick is completely separated from the dark supporting surface."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the grasped blue 2x2 lego brick, moving it horizontally toward the nearby green lego bricks on the surface."}, {"label": "subtasks", "start_step": 525, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand contacts the blue brick near the green brick on the table, adjusting fingers and wrist position to form a stable grasp while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped blue brick completely off the table surface, moving it horizontally rightward across the table toward the area next to the orange brick."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the grasped blue brick down to the table surface, setting it stably on the right section of the table adjacent to the orange brick."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the blue brick on the dark gray surface with fingers held open."}, {"label": "subtasks", "start_step": 788, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts finger placement around the blue brick, slightly closing and repositioning fingers to form a grip on the brick."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its fingers around the blue brick resting on the dark work surface to form a stable grip."}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand moves the stably grasped blue brick leftward across the dark work surface toward the green brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand sets the blue brick into a stable supported position on the dark work surface adjacent to the green brick."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the blue brick, breaking contact with the brick surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the 2x2 orange lego brick placed on the dark table surface, with fingers held in a slightly open posture as it approaches the target brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand curls its fingers around the 2x2 orange lego brick, making small adjustments to finger contact positions to establish a grip on the brick that remains resting on the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: transport: Right hand firmly holds the orange brick and moves it down-left toward the stacked green and blue bricks on the dark table surface, keeping the brick in the air."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: place: Right hand lowers the orange brick to place it onto the top of the stacked green and blue bricks, until the brick is fully supported by the stack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: release: Right hand gradually opens all fingers to release the orange brick, slowly separating the fingers from the brick surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: press: Right hand moves the index finger vertically downward to press the top surface of the placed orange brick, applying downward pressure."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in a raised, spread-finger posture on the left side of the workspace with no observable movement. | Right hand: retreat: Right hand moves empty upward and rightward to retreat from the position of the stacked bricks."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward and outward empty-handed away from the colorful block stack at the center of the table, with fingers gradually adjusting to point upward, until it stops at its initial left resting position. | Right hand: return_home: Right hand moves upward and outward empty-handed away from the colorful block stack at the center of the table, with fingers gradually adjusting to point upward, until it stops at its initial right resting position."}], "episode_index": 32}
+{"source_uid": "eef4eb1d4beb081b", "num_frames": 1811, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: idle: Right hand remains empty at the right upper initial position without active movement."}, {"label": "valid", "start_step": 0, "end_step": 1771, "id": "86Cs0HgUBlUmCmyrBEPSG"}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the small light green lego block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand contacts the small light green lego block on the black table, fingers close and adjust position to establish a grasp on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves toward the small flat lego brick on the dark gray work surface, with fingers slightly extended, approaching the brick without stable contact."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the edge of the flat lego brick, adjusting finger contact to establish initial grip on the brick resting on the surface."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: hold: Right hand holds the edge of the flat lego brick on the dark gray surface without any observable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and wrist angle slightly on the lego brick, repositioning contact points to secure a stable grip for moving the brick."}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reorient: Right hand grips the lego brick, lifts it slightly off the surface, rotates it about 90 degrees to adjust it to an upright orientation while keeping it in roughly the same horizontal position."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: place: Right hand lowers the rotated lego brick down to the dark gray surface, setting the brick to rest stably in an upright position on the surface."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release_retreat: Right hand opens fingers to release the upright lego brick supported on the surface, moving slightly upward away from the brick with an empty hand."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves left toward the upright small light green lego brick with open fingers, not yet making contact with the brick."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the upright small light green lego brick, making slight grip adjustments while the brick stays on the dark gray supporting surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the small light green lego brick fully off the dark gray surface and moves it rightward to the position directly above the large light green lego brick, rotating the brick to a flat orientation during movement."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: place: Right hand lowers the small light green lego brick onto the top surface of the large light green lego brick until the small brick is stably supported by the larger brick."}, {"label": "subtasks", "start_step": 540, "end_step": 937, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger contact points and grip on the small light green brick on the larger light green plate, slightly shifting the brick closer to the blue block via small wrist movements."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: hold: Right hand holds the small light green brick steady in its adjusted position on the larger plate without movement."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release: Right hand opens fingers and lifts upward, releasing contact with the small light green brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves left toward the dark blue lego brick placed on the dark gray work surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions around the dark blue lego brick, closing fingers to establish and stabilize contact with the brick which remains on the work surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand makes subtle finger and wrist adjustments to establish a stable grasp on the dark blue lego brick placed on the dark table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: lift: Right hand lifts the stably grasped dark blue lego brick vertically upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1237, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: transport: Right hand transports the lifted dark blue lego brick rightward through the air to the position directly above the light green lego brick."}, {"label": "subtasks", "start_step": 1238, "end_step": 1424, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: mate: Right hand aligns the dark blue lego brick with the connection points on the light green lego brick, lowers and presses the dark blue brick to attach it to the light green brick."}, {"label": "subtasks", "start_step": 1425, "end_step": 1559, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach_press: Right hand moves toward the top surface of the dark blue brick stacked on the light green brick, contacts the surface and exerts vertical downward force to press the brick."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: retreat: Right hand moves upward and away from the stacked bricks, retreating from the pressing position with empty fingers."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves leftward toward the small orange lego brick on the dark table surface, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 1598, "end_step": 1701, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the small orange lego brick, adjusting finger positions slightly to attempt closing around the brick."}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the small orange lego brick, which falls downward away from the hand."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: idle: Right hand remains empty above the original position of the orange lego brick without any visible movement."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand remains empty, moves upward and rotates slightly to return to the forward-facing initial home position, with fingers gradually adjusting to a relaxed aligned posture. | Right hand: return_home: Right hand remains empty, moves upward and rotates slightly to return to the forward-facing initial home position, with fingers gradually extending and adjusting to a relaxed aligned posture."}, {"label": "home", "start_step": 1772, "end_step": 1810, "id": "O8KlLxdZwPgg4izwzeaBi"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: idle: Right hand remains empty at the right upper initial position without active movement."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the small light green lego block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand contacts the small light green lego block on the black table, fingers close and adjust position to establish a grasp on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves toward the small flat lego brick on the dark gray work surface, with fingers slightly extended, approaching the brick without stable contact."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the edge of the flat lego brick, adjusting finger contact to establish initial grip on the brick resting on the surface."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: hold: Right hand holds the edge of the flat lego brick on the dark gray surface without any observable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and wrist angle slightly on the lego brick, repositioning contact points to secure a stable grip for moving the brick."}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reorient: Right hand grips the lego brick, lifts it slightly off the surface, rotates it about 90 degrees to adjust it to an upright orientation while keeping it in roughly the same horizontal position."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: place: Right hand lowers the rotated lego brick down to the dark gray surface, setting the brick to rest stably in an upright position on the surface."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release_retreat: Right hand opens fingers to release the upright lego brick supported on the surface, moving slightly upward away from the brick with an empty hand."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves left toward the upright small light green lego brick with open fingers, not yet making contact with the brick."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the upright small light green lego brick, making slight grip adjustments while the brick stays on the dark gray supporting surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the small light green lego brick fully off the dark gray surface and moves it rightward to the position directly above the large light green lego brick, rotating the brick to a flat orientation during movement."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: place: Right hand lowers the small light green lego brick onto the top surface of the large light green lego brick until the small brick is stably supported by the larger brick."}, {"label": "subtasks", "start_step": 540, "end_step": 937, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger contact points and grip on the small light green brick on the larger light green plate, slightly shifting the brick closer to the blue block via small wrist movements."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: hold: Right hand holds the small light green brick steady in its adjusted position on the larger plate without movement."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release: Right hand opens fingers and lifts upward, releasing contact with the small light green brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves left toward the dark blue lego brick placed on the dark gray work surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions around the dark blue lego brick, closing fingers to establish and stabilize contact with the brick which remains on the work surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand makes subtle finger and wrist adjustments to establish a stable grasp on the dark blue lego brick placed on the dark table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: lift: Right hand lifts the stably grasped dark blue lego brick vertically upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1237, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: transport: Right hand transports the lifted dark blue lego brick rightward through the air to the position directly above the light green lego brick."}, {"label": "subtasks", "start_step": 1238, "end_step": 1424, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: mate: Right hand aligns the dark blue lego brick with the connection points on the light green lego brick, lowers and presses the dark blue brick to attach it to the light green brick."}, {"label": "subtasks", "start_step": 1425, "end_step": 1559, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach_press: Right hand moves toward the top surface of the dark blue brick stacked on the light green brick, contacts the surface and exerts vertical downward force to press the brick."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: retreat: Right hand moves upward and away from the stacked bricks, retreating from the pressing position with empty fingers."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: reach: Right hand moves leftward toward the small orange lego brick on the dark table surface, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 1598, "end_step": 1701, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the small orange lego brick, adjusting finger positions slightly to attempt closing around the brick."}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the small orange lego brick, which falls downward away from the hand."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper area without active movement or contact with any objects. | Right hand: idle: Right hand remains empty above the original position of the orange lego brick without any visible movement."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand remains empty, moves upward and rotates slightly to return to the forward-facing initial home position, with fingers gradually adjusting to a relaxed aligned posture. | Right hand: return_home: Right hand remains empty, moves upward and rotates slightly to return to the forward-facing initial home position, with fingers gradually extending and adjusting to a relaxed aligned posture."}], "episode_index": 33}
+{"source_uid": "5e8151eb7fa208d1", "num_frames": 2376, "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": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and left toward the small green block on the left side of the table."}, {"label": "valid", "start_step": 0, "end_step": 2327, "id": "z0ujOCaOeXjxiUcpoQ0z5"}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the small green block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers and makes slight grip adjustments to grasp the small green block on the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped small green block off the black supporting surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the small green block rightward above the larger green block."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the small green block onto the larger green block."}, {"label": "subtasks", "start_step": 285, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the small green block downward to stack it firmly on the larger green block placed on the mat."}, {"label": "subtasks", "start_step": 405, "end_step": 794, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the small green block stacked on the larger green block without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 929, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand closes fingers to grasp the green block on the table then releases the green block."}, {"label": "subtasks", "start_step": 930, "end_step": 1034, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the blue block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1184, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the blue block on the table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the blue block up from the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the blue block rightward to the position above the green block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00014", "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 onto the top of the stacked green block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1311, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the blue block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the blue block and moves away slightly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the orange block on the table to form a grip."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the orange block on the table without moving."}, {"label": "subtasks", "start_step": 1448, "end_step": 1574, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to re-grasp the orange block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped orange block leftward to the position above the green block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00021", "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, with fingers separating from the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the fallen orange block on the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1761, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the fallen orange block, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the orange block to adjust its orientation to an upright position."}, {"label": "subtasks", "start_step": 1830, "end_step": 2001, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the upright orange block toward the stacked green and blue blocks on the table."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00026", "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, fingers open to separate from the block surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the orange block without moving."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the orange block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table and transports it leftward to the position above the blue block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the orange block by opening its fingers."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses down on the orange block to secure it onto the blue block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2375, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "home", "start_step": 2328, "end_step": 2375, "id": "12WlISC5ha6pcGE53g7Hj"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and left toward the small green block on the left side of the table."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the small green block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers and makes slight grip adjustments to grasp the small green block on the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped small green block off the black supporting surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the small green block rightward above the larger green block."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the small green block onto the larger green block."}, {"label": "subtasks", "start_step": 285, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the small green block downward to stack it firmly on the larger green block placed on the mat."}, {"label": "subtasks", "start_step": 405, "end_step": 794, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the small green block stacked on the larger green block without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 929, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand closes fingers to grasp the green block on the table then releases the green block."}, {"label": "subtasks", "start_step": 930, "end_step": 1034, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the blue block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1184, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the blue block on the table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the blue block up from the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the blue block rightward to the position above the green block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00014", "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 onto the top of the stacked green block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1311, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the blue block on top of the green block without moving."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the blue block and moves away slightly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the orange block on the table to form a grip."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the orange block on the table without moving."}, {"label": "subtasks", "start_step": 1448, "end_step": 1574, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to re-grasp the orange block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped orange block leftward to the position above the green block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00021", "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, with fingers separating from the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the fallen orange block on the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1761, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the fallen orange block, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the orange block to adjust its orientation to an upright position."}, {"label": "subtasks", "start_step": 1830, "end_step": 2001, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the upright orange block toward the stacked green and blue blocks on the table."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00026", "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, fingers open to separate from the block surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the orange block without moving."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the orange block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table and transports it leftward to the position above the blue block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the top surface of the blue block."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the orange block by opening its fingers."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses down on the orange block to secure it onto the blue block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2375, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}], "episode_index": 34}
+{"source_uid": "9714fd6d4c144820", "num_frames": 1412, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:raise_and_extend_fingers: Left hand rises slightly at the upper left of the frame, with fingers extending to an open position. | Right hand: other:raise_and_extend_fingers: Right hand rises slightly at the upper right of the frame, with fingers extending to an open position."}, {"label": "valid", "start_step": 0, "end_step": 1364, "id": "DsYgolgJ2BNzJpT9UU4pe"}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: other:raise_and_extend_fingers: Right hand rises slightly at the upper right of the frame, with fingers extending to an open position."}, {"label": "subtasks", "start_step": 68, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves downward toward the blue building block on the black table surface, remaining empty without contacting the block."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves downward toward the small light green 2x2 lego block on the dark work surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 90, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand gradually curls its fingers around the small light green 2x2 lego block, making subtle positional adjustments to establish contact with the block while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: transport: Right hand holds the small light green lego block and moves it downward toward the larger light green lego block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 270, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand adjusts the position and orientation of the small light green lego block to align its connection points with those on the larger light green lego block below."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: press: Right hand applies downward pressure on the top surface of the small light green lego block to secure it to the larger light green lego block."}, {"label": "subtasks", "start_step": 405, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves from the green lego block position toward the blue 2x2 lego block with empty hand, approaching the target."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand contacts the blue 2x2 lego block, closes fingers and makes slight adjustments to establish a firm grip on the block."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: lift_transport: Right hand holds the blue lego block, lifts it from the dark flat surface and moves it leftward toward the green lego block."}, {"label": "subtasks", "start_step": 615, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand adjusts the position of the held blue lego block to align it flush against the adjacent side of the green lego block."}, {"label": "subtasks", "start_step": 720, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves rightward toward the orange 2x2 lego block on the dark flat surface, with fingers held in a slightly open position."}, {"label": "subtasks", "start_step": 870, "end_step": 989, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand curls its fingers to close around the orange 2x2 lego block, making minor adjustments to form contact with the block which remains on the dark surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reorient: Right hand holds the orange lego block and rotates it about half a turn to flip its orientation, with minimal positional change over the dark table surface."}, {"label": "subtasks", "start_step": 1028, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: hold: Right hand holds the flipped orange lego block steadily on the dark table surface without visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1177, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: lift_transport: Right hand lifts the orange lego block off the dark supporting surface and transports it leftward toward the stacked green and blue lego assembly."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand makes minor positional adjustments to align the held orange lego block and mates it onto the top of the stacked lego assembly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: release: Right hand opens its fingers to release the mated orange lego block on top of the stacked lego assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1349, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00023", "text": "Left hand: return_home: Left hand moves downward from the upper left resting position to the left home position, with fingers spreading from a closed extended state to a natural relaxed state, and stops steadily at the home position. | Right hand: retreat: Right hand moves upward away from the lego stack on the dark table surface, with fingers gradually spreading open during the upward movement."}, {"label": "home", "start_step": 1365, "end_step": 1411, "id": "rMglJ0lFMR6L3II2LNZ0G"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00024", "text": "Left hand: return_home: Left hand moves downward from the upper left resting position to the left home position, with fingers spreading from a closed extended state to a natural relaxed state, and stops steadily at the home position. | Right hand: return_home: Right hand moves downward from the upper right area to the right home position, adjusting wrist and finger posture, and stops steadily at the home position."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:raise_and_extend_fingers: Left hand rises slightly at the upper left of the frame, with fingers extending to an open position. | Right hand: other:raise_and_extend_fingers: Right hand rises slightly at the upper right of the frame, with fingers extending to an open position."}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: other:raise_and_extend_fingers: Right hand rises slightly at the upper right of the frame, with fingers extending to an open position."}, {"label": "subtasks", "start_step": 68, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves downward toward the blue building block on the black table surface, remaining empty without contacting the block."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves downward toward the small light green 2x2 lego block on the dark work surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 90, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand gradually curls its fingers around the small light green 2x2 lego block, making subtle positional adjustments to establish contact with the block while the block remains on the supporting surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: transport: Right hand holds the small light green lego block and moves it downward toward the larger light green lego block resting on the dark flat surface."}, {"label": "subtasks", "start_step": 270, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand adjusts the position and orientation of the small light green lego block to align its connection points with those on the larger light green lego block below."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: press: Right hand applies downward pressure on the top surface of the small light green lego block to secure it to the larger light green lego block."}, {"label": "subtasks", "start_step": 405, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves from the green lego block position toward the blue 2x2 lego block with empty hand, approaching the target."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand contacts the blue 2x2 lego block, closes fingers and makes slight adjustments to establish a firm grip on the block."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: lift_transport: Right hand holds the blue lego block, lifts it from the dark flat surface and moves it leftward toward the green lego block."}, {"label": "subtasks", "start_step": 615, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand adjusts the position of the held blue lego block to align it flush against the adjacent side of the green lego block."}, {"label": "subtasks", "start_step": 720, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reach: Right hand moves rightward toward the orange 2x2 lego block on the dark flat surface, with fingers held in a slightly open position."}, {"label": "subtasks", "start_step": 870, "end_step": 989, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: grasp: Right hand curls its fingers to close around the orange 2x2 lego block, making minor adjustments to form contact with the block which remains on the dark surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: reorient: Right hand holds the orange lego block and rotates it about half a turn to flip its orientation, with minimal positional change over the dark table surface."}, {"label": "subtasks", "start_step": 1028, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: hold: Right hand holds the flipped orange lego block steadily on the dark table surface without visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1177, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: lift_transport: Right hand lifts the orange lego block off the dark supporting surface and transports it leftward toward the stacked green and blue lego assembly."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: mate: Right hand makes minor positional adjustments to align the held orange lego block and mates it onto the top of the stacked lego assembly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame. | Right hand: release: Right hand opens its fingers to release the mated orange lego block on top of the stacked lego assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1349, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the frame."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00023", "text": "Left hand: return_home: Left hand moves downward from the upper left resting position to the left home position, with fingers spreading from a closed extended state to a natural relaxed state, and stops steadily at the home position. | Right hand: retreat: Right hand moves upward away from the lego stack on the dark table surface, with fingers gradually spreading open during the upward movement."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00024", "text": "Left hand: return_home: Left hand moves downward from the upper left resting position to the left home position, with fingers spreading from a closed extended state to a natural relaxed state, and stops steadily at the home position. | Right hand: return_home: Right hand moves downward from the upper right area to the right home position, adjusting wrist and finger posture, and stops steadily at the home position."}], "episode_index": 35}
+{"source_uid": "5dd9e0425ee96449", "num_frames": 1198, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: idle: Right hand remains empty in the upper right resting position with fingers extended, showing no obvious movement toward the lego bricks."}, {"label": "valid", "start_step": 0, "end_step": 1146, "id": "3LqJ0ZsVOr0viNFTCpj8H"}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward toward the small bright green 2x2 lego brick on the black table surface, with fingers slightly curved as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts fingers around the small bright green 2x2 lego brick, making contact with the brick that stays on the table to begin forming a stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger contact positions and closes its fingers around the small bright green 2x2 lego brick resting on the dark flat supporting surface to establish a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped small bright green 2x2 lego brick completely off the supporting surface and moves it toward the adjacent green lego pieces."}, {"label": "subtasks", "start_step": 225, "end_step": 471, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the small bright green 2x2 lego brick resting on the larger green lego brick, making continuous fine adjustments to the brick's position via slight finger and wrist movements."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand opens fingers to release the small bright green 2x2 lego brick, lifting fingers away from the brick surface."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves leftward while empty from the position above the stacked green bricks, approaching the blue 2x2 brick on the dark supporting surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the blue 2x2 brick, making small adjustments to finger positions to establish a stable grasp while the brick stays on the supporting surface."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: lift: Right hand holds the grasped blue 2x2 brick and moves upward, lifting the brick completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: transport: Right hand holds the grasped blue 2x2 lego brick and moves it rightward and downward to the position directly above the green 2x2 lego brick on the dark surface."}, {"label": "subtasks", "start_step": 622, "end_step": 749, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: place: Right hand lowers the blue 2x2 lego brick onto the top of the green lego brick, making slight positional adjustments to align the bricks while maintaining a firm grip."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves empty rightward and slightly upward away from the stacked green and blue lego bricks, approaching the small orange 2x2 lego brick on the dark gray work surface."}, {"label": "subtasks", "start_step": 802, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the orange 2x2 lego brick, making contact with the brick surface to form a grip."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: transport_place: Right hand holds the grasped orange 2x2 lego brick, moves it leftward through the air and places it onto the top surface of the blue lego brick on the stacked structure."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: mate: Right hand adjusts the position of the orange lego brick to align its connection points with the blue lego brick below to form an assembled fit."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: hold: Right hand holds the aligned orange lego brick steadily on top of the blue lego brick without movement."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the orange lego brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the orange lego brick to secure the assembled lego structure."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand opens fingers to release contact with the top of the stacked lego blocks, fully separating from the lego stack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1197, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: return_home: Right hand moves empty upward and backward away from the lego stack, adjusting finger posture gradually until stopping stably at the right home position."}, {"label": "home", "start_step": 1147, "end_step": 1197, "id": "evQYvlH-mpDzl5pq2RKee"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: idle: Right hand remains empty in the upper right resting position with fingers extended, showing no obvious movement toward the lego bricks."}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward toward the small bright green 2x2 lego brick on the black table surface, with fingers slightly curved as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts fingers around the small bright green 2x2 lego brick, making contact with the brick that stays on the table to begin forming a stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger contact positions and closes its fingers around the small bright green 2x2 lego brick resting on the dark flat supporting surface to establish a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped small bright green 2x2 lego brick completely off the supporting surface and moves it toward the adjacent green lego pieces."}, {"label": "subtasks", "start_step": 225, "end_step": 471, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the small bright green 2x2 lego brick resting on the larger green lego brick, making continuous fine adjustments to the brick's position via slight finger and wrist movements."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand opens fingers to release the small bright green 2x2 lego brick, lifting fingers away from the brick surface."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves leftward while empty from the position above the stacked green bricks, approaching the blue 2x2 brick on the dark supporting surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the blue 2x2 brick, making small adjustments to finger positions to establish a stable grasp while the brick stays on the supporting surface."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: lift: Right hand holds the grasped blue 2x2 brick and moves upward, lifting the brick completely off the dark supporting surface."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: transport: Right hand holds the grasped blue 2x2 lego brick and moves it rightward and downward to the position directly above the green 2x2 lego brick on the dark surface."}, {"label": "subtasks", "start_step": 622, "end_step": 749, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: place: Right hand lowers the blue 2x2 lego brick onto the top of the green lego brick, making slight positional adjustments to align the bricks while maintaining a firm grip."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: reach: Right hand moves empty rightward and slightly upward away from the stacked green and blue lego bricks, approaching the small orange 2x2 lego brick on the dark gray work surface."}, {"label": "subtasks", "start_step": 802, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the orange 2x2 lego brick, making contact with the brick surface to form a grip."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: transport_place: Right hand holds the grasped orange 2x2 lego brick, moves it leftward through the air and places it onto the top surface of the blue lego brick on the stacked structure."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: mate: Right hand adjusts the position of the orange lego brick to align its connection points with the blue lego brick below to form an assembled fit."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: hold: Right hand holds the aligned orange lego brick steadily on top of the blue lego brick without movement."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the orange lego brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the orange lego brick to secure the assembled lego structure."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: release: Right hand opens fingers to release contact with the top of the stacked lego blocks, fully separating from the lego stack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1197, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper left area with no observable movement throughout the segment. | Right hand: return_home: Right hand moves empty upward and backward away from the lego stack, adjusting finger posture gradually until stopping stably at the right home position."}], "episode_index": 36}
+{"source_uid": "cb6e96eba0aab05a", "num_frames": 1411, "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": 44, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward to the left side of the table. | Right hand: reach: Right hand moves forward and downward toward the blue block on the table."}, {"label": "valid", "start_step": 0, "end_step": 1362, "id": "BguG4WdH_ozkdWOyU8QGL"}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward and downward toward the blue block on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the small green block on the black table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the small green block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and transports it above the larger green block."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "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 onto the larger green block on the table."}, {"label": "subtasks", "start_step": 240, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green building block on the table surface downward."}, {"label": "subtasks", "start_step": 398, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand lifts fingers and moves away from the green building block."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand contacts the green block, adjusts fingers on the block surface, and lifts fingers away from the block."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the blue block placed on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the blue block."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00013", "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 upwards away from the table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the blue block and transports it toward the green block on the table."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the green block to fit them together."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the assembled blue and green blocks without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "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 aligns the orange block with the blue block on the green base."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00018", "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 blue block."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00019", "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 blue block."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block to the area next to the green base."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip to grasp the orange block placed on the dark table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00023", "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 away from the dark table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the orange block with the stacked green and blue blocks by aligning and pressing it into place."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "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 blue block on top of the stacked blocks placed on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the stacked blocks."}, {"label": "subtasks", "start_step": 1350, "end_step": 1410, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}, {"label": "home", "start_step": 1363, "end_step": 1410, "id": "mZ941tkvF3hx6VLUhkAY-"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward to the left side of the table. | Right hand: reach: Right hand moves forward and downward toward the blue block on the table."}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward and downward toward the blue block on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the small green block on the black table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the small green block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and transports it above the larger green block."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "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 onto the larger green block on the table."}, {"label": "subtasks", "start_step": 240, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green building block on the table surface downward."}, {"label": "subtasks", "start_step": 398, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand lifts fingers and moves away from the green building block."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand contacts the green block, adjusts fingers on the block surface, and lifts fingers away from the block."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the blue block placed on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the blue block."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00013", "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 upwards away from the table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the blue block and transports it toward the green block on the table."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the blue block down onto the green block to fit them together."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the assembled blue and green blocks without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "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 aligns the orange block with the blue block on the green base."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00018", "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 blue block."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00019", "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 blue block."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block to the area next to the green base."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the orange block onto the table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip to grasp the orange block placed on the dark table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00023", "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 away from the dark table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1125, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the orange block with the stacked green and blue blocks by aligning and pressing it into place."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "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 blue block on top of the stacked blocks placed on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the stacked blocks."}, {"label": "subtasks", "start_step": 1350, "end_step": 1410, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving."}], "episode_index": 37}
+{"source_uid": "10dec1fd7c95effe", "num_frames": 1361, "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": 51, "id": "reasoning-language-00001", "text": "Left hand: other:move_upper_left: Left hand moves empty upward and slightly left to the upper left position above the black table. | Right hand: other:move_upper_right: Right hand moves empty upward to the upper right position above the black table."}, {"label": "valid", "start_step": 0, "end_step": 1315, "id": "MkBDNWZ7-kO7uIdXfIZkY"}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: other:move_upper_right: Right hand moves empty upward to the upper right position above the black table."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves empty downward toward the small green 2-stud block resting on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand curls fingers to close around the small green block, adjusting finger positions to form a grasp."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand adjusts finger positions and closes around the small lime green lego block resting on the dark work surface to establish a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift: Right hand lifts the grasped small lime green lego block upward until the block fully leaves the dark work surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: transport: Right hand carries the grasped small lime green lego block, moving it horizontally across the workspace."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: place: Right hand lowers the grasped small lime green lego block downward until the block rests stably on the dark work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the small lime green lego block, separating the fingers from the block."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: idle: Right hand remains empty next to the small lime green lego block on the work surface without moving."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_grasp: Right hand moves fingers to the small lime green lego block, closes fingers around the block to re-establish a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift_transport: Right hand lifts the small lime green lego block off the dark work surface, moves it to the larger green lego block, sets the block on the larger block's surface."}, {"label": "subtasks", "start_step": 375, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: hold: Right hand holds the small lime green lego block stably on top of the larger green lego block without any movement."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the small lime green lego block resting on the dark flat surface, lifting fingers away from the block."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_press: Right hand moves its index finger to the top surface of the small lime green lego block, presses down slightly and makes small positional adjustments to the block on the dark surface."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: retreat: Right hand lifts its index finger off the small lime green lego block and retreats slightly away from the block."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves leftward with slightly open fingers, approaching the blue lego block resting on the dark table."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand closes fingers around the blue lego block, making small grip adjustments while the block stays on the table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift: Right hand lifts the grasped blue lego block upward, completely separating the block from the dark table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: transport_place: Right hand carries the grasped blue lego block rightward and downward, placing it onto the top surface of the nearby green lego block."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: hold: Right hand holds the blue lego block steady on top of the green lego block with no visible movement of the hand or blocks."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the blue lego block stacked on top of the green and yellow lego piece."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves empty fingers slightly toward the released blue lego block on the dark gray surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: other:tap_and_adjust: Right hand contacts the blue lego block, taps it and slightly adjusts its position on the surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves rightward toward the orange lego block on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand closes fingers around the orange lego block on the dark table surface, making small adjustments to finger positions to secure the grip."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: place: Right hand grips the orange lego block, lifts it from the table surface, moves it leftward over the blue lego block, and lowers it to rest on top of the blue lego block."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand makes slight finger adjustments to its grip on the orange lego block resting on the blue lego block to stabilize contact with the block."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens its fingers gradually to release the orange lego block, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: retreat: Right hand moves empty away from the lego stack, retreating to the right side of the orange lego block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_press: Right hand moves empty leftward toward the top surface of the orange lego block and presses down on the block's top surface with fingers applying vertical downward pressure."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand releases the stacked lego block resting on the dark gray table, opening fingers to break contact with the orange top section of the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: return_home: Right hand remains empty, moves downward from the area adjacent to the lego block to the lower right home position, and comes to a stable stop."}, {"label": "home", "start_step": 1316, "end_step": 1360, "id": "k1Y7Hbn8MQeBRt0dvVoQi"}, {"label": "subtasks", "start_step": 1320, "end_step": 1360, "id": "reasoning-language-00034", "text": "Left hand: return_home: Left hand remains empty, moves downward from the upper left position to the lower left home position with slight wrist rotation, and comes to a stable stop at the home position. | Right hand: return_home: Right hand remains empty, moves downward from the area adjacent to the lego block to the lower right home position, and comes to a stable stop."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:move_upper_left: Left hand moves empty upward and slightly left to the upper left position above the black table. | Right hand: other:move_upper_right: Right hand moves empty upward to the upper right position above the black table."}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: other:move_upper_right: Right hand moves empty upward to the upper right position above the black table."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves empty downward toward the small green 2-stud block resting on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand curls fingers to close around the small green block, adjusting finger positions to form a grasp."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand adjusts finger positions and closes around the small lime green lego block resting on the dark work surface to establish a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift: Right hand lifts the grasped small lime green lego block upward until the block fully leaves the dark work surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: transport: Right hand carries the grasped small lime green lego block, moving it horizontally across the workspace."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: place: Right hand lowers the grasped small lime green lego block downward until the block rests stably on the dark work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the small lime green lego block, separating the fingers from the block."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: idle: Right hand remains empty next to the small lime green lego block on the work surface without moving."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_grasp: Right hand moves fingers to the small lime green lego block, closes fingers around the block to re-establish a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift_transport: Right hand lifts the small lime green lego block off the dark work surface, moves it to the larger green lego block, sets the block on the larger block's surface."}, {"label": "subtasks", "start_step": 375, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: hold: Right hand holds the small lime green lego block stably on top of the larger green lego block without any movement."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the small lime green lego block resting on the dark flat surface, lifting fingers away from the block."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_press: Right hand moves its index finger to the top surface of the small lime green lego block, presses down slightly and makes small positional adjustments to the block on the dark surface."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: retreat: Right hand lifts its index finger off the small lime green lego block and retreats slightly away from the block."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves leftward with slightly open fingers, approaching the blue lego block resting on the dark table."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand closes fingers around the blue lego block, making small grip adjustments while the block stays on the table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: lift: Right hand lifts the grasped blue lego block upward, completely separating the block from the dark table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: transport_place: Right hand carries the grasped blue lego block rightward and downward, placing it onto the top surface of the nearby green lego block."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: hold: Right hand holds the blue lego block steady on top of the green lego block with no visible movement of the hand or blocks."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens fingers to release the blue lego block stacked on top of the green and yellow lego piece."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves empty fingers slightly toward the released blue lego block on the dark gray surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: other:tap_and_adjust: Right hand contacts the blue lego block, taps it and slightly adjusts its position on the surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach: Right hand moves rightward toward the orange lego block on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand closes fingers around the orange lego block on the dark table surface, making small adjustments to finger positions to secure the grip."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: place: Right hand grips the orange lego block, lifts it from the table surface, moves it leftward over the blue lego block, and lowers it to rest on top of the blue lego block."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: grasp: Right hand makes slight finger adjustments to its grip on the orange lego block resting on the blue lego block to stabilize contact with the block."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand opens its fingers gradually to release the orange lego block, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: retreat: Right hand moves empty away from the lego stack, retreating to the right side of the orange lego block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: reach_press: Right hand moves empty leftward toward the top surface of the orange lego block and presses down on the block's top surface with fingers applying vertical downward pressure."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: release: Right hand releases the stacked lego block resting on the dark gray table, opening fingers to break contact with the orange top section of the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left position above the table. | Right hand: return_home: Right hand remains empty, moves downward from the area adjacent to the lego block to the lower right home position, and comes to a stable stop."}, {"label": "subtasks", "start_step": 1320, "end_step": 1360, "id": "reasoning-language-00034", "text": "Left hand: return_home: Left hand remains empty, moves downward from the upper left position to the lower left home position with slight wrist rotation, and comes to a stable stop at the home position. | Right hand: return_home: Right hand remains empty, moves downward from the area adjacent to the lego block to the lower right home position, and comes to a stable stop."}], "episode_index": 38}
+{"source_uid": "0d0a621b7106c652", "num_frames": 1219, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1176, "id": "cfkyreRDcWEVfChpJ0gB1"}, {"label": "subtasks", "start_step": 15, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: other:rise_slightly_upward: Left hand rises slightly upward at the left side of the black table with fingers extended, keeping empty and not contacting any object."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00002", "text": "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 2-stud brick on the dark flat surface."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green 2-stud brick on the dark flat surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green 2-stud brick on the dark surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "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 2-stud brick off the dark surface and moves it rightward to the position above another green brick."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "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 2-stud brick onto the upper surface of the lower green brick until it is supported."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the small green 2-stud brick on the lower green brick without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its grip on the small green 2-stud brick, with fingers slightly closing and repositioning on the brick surface."}, {"label": "subtasks", "start_step": 270, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: push: Right hand pushes the small green 2-stud brick leftward on the dark flat surface, with the brick remaining in contact with the surface during movement."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves leftward and upward from above the green brick toward the blue brick."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue brick on the dark surface, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue dice on the table, with fingers closing and making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the blue dice from the table and transports it rightward above the green block."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place: Right hand places the blue dice onto the green block."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand holds the blue dice and aligns it with the green brick assembly on the dark surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the blue dice, with fingers opening and separating from the dice."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves upward away from the blue dice as an empty hand."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach_grasp: Right hand reaches toward the blue dice and grasps it with fingers closing around the dice."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the blue dice to align with the green brick assembly on the dark surface."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "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 blue dice, with fingers opening and separating from the dice."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves backward and upward away from the blue dice as an empty hand."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves leftward and upward toward the orange brick on the dark working surface with fingers open."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange brick on the dark working surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange 2x2 brick on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the orange 2x2 brick off the table and transports it leftward to the position above the green-blue stacked brick."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00026", "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 2x2 brick onto the green-blue stacked brick on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand mates the orange 2x2 brick with the green brick beneath it."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the orange 2x2 brick to align it with the blue brick below for assembly."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00029", "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 2x2 brick downward onto the blue brick to secure the assembly."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release_retreat: Right hand releases the orange 2x2 brick and retreats upward away from the brick stack."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: return_home: Left hand moves leftward from the area near the stacked colorful building blocks on the table and stops at the left home position. | Right hand: return_home: Right hand moves rightward from the area near the stacked colorful building blocks on the table and stops at the right home position."}, {"label": "home", "start_step": 1177, "end_step": 1218, "id": "MuNx_8J9BM9X-leGwL9kD"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: other:rise_slightly_upward: Left hand rises slightly upward at the left side of the black table with fingers extended, keeping empty and not contacting any object."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00002", "text": "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 2-stud brick on the dark flat surface."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green 2-stud brick on the dark flat surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the small green 2-stud brick on the dark surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "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 2-stud brick off the dark surface and moves it rightward to the position above another green brick."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "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 2-stud brick onto the upper surface of the lower green brick until it is supported."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the small green 2-stud brick on the lower green brick without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts its grip on the small green 2-stud brick, with fingers slightly closing and repositioning on the brick surface."}, {"label": "subtasks", "start_step": 270, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: push: Right hand pushes the small green 2-stud brick leftward on the dark flat surface, with the brick remaining in contact with the surface during movement."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves leftward and upward from above the green brick toward the blue brick."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue brick on the dark surface, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the blue dice on the table, with fingers closing and making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the blue dice from the table and transports it rightward above the green block."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place: Right hand places the blue dice onto the green block."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand holds the blue dice and aligns it with the green brick assembly on the dark surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the blue dice, with fingers opening and separating from the dice."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves upward away from the blue dice as an empty hand."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach_grasp: Right hand reaches toward the blue dice and grasps it with fingers closing around the dice."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the blue dice to align with the green brick assembly on the dark surface."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "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 blue dice, with fingers opening and separating from the dice."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: retreat: Right hand moves backward and upward away from the blue dice as an empty hand."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves leftward and upward toward the orange brick on the dark working surface with fingers open."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange brick on the dark working surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the orange 2x2 brick on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the orange 2x2 brick off the table and transports it leftward to the position above the green-blue stacked brick."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00026", "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 2x2 brick onto the green-blue stacked brick on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand mates the orange 2x2 brick with the green brick beneath it."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand adjusts the orange 2x2 brick to align it with the blue brick below for assembly."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00029", "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 2x2 brick downward onto the blue brick to secure the assembly."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release_retreat: Right hand releases the orange 2x2 brick and retreats upward away from the brick stack."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: return_home: Left hand moves leftward from the area near the stacked colorful building blocks on the table and stops at the left home position. | Right hand: return_home: Right hand moves rightward from the area near the stacked colorful building blocks on the table and stops at the right home position."}], "episode_index": 39}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..36e79e9ae4d4d4fd9733f3e740f1a56ef8f36ea8
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fd58816f28377b7ab6688beecd1c6d0a3848d3d5879379b2d58d2be50ae83a0
+size 1141525
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/info.json b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b76aab99889fb89cf22b9285fe9751db8b940048
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "robot",
+    "total_episodes": 40,
+    "total_frames": 66777,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 30,
+    "splits": {
+        "train": "0:40"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                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.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/modality.json b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_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_07_15_39_59_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/stats.json b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..5692b43c0edd9bf1d8ff2bda1c9643d4455a0486
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
+    "observation.tactile": {
+        "min": [
+            -19.392614364624023,
+            -3.8828470706939697,
+            -8.967781468527392e-05,
+            -0.4666636884212494,
+            -0.070955291390419,
+            -0.21548110246658325,
+            -3.549436092376709,
+            -2.9972923584864475e-05,
+            -6.19343772996217e-05,
+            -0.40389493107795715,
+            -0.025050057098269463,
+            -0.09228913486003876,
+            -0.08948016166687012,
+            -3.8715312257409096e-05,
+            -8.545188757125288e-05,
+            -0.003040642710402608,
+            -0.00032976962393149734,
+            -0.0008436180651187897,
+            -2.169835329055786,
+            -0.05621910095214844,
+            -0.7364345788955688,
+            -0.0069485497660934925,
+            -0.0015841462882235646,
+            -0.03001864068210125,
+            -0.007343832403421402,
+            -7.344724144786596e-05,
+            -0.1548961102962494,
+            -0.0015584726352244616,
+            -0.0017596110701560974,
+            -9.781365224625915e-05,
+            -10.481987953186035,
+            -0.35964712500572205,
+            -0.1373938024044037,
+            -0.3133598566055298,
+            -0.03046608343720436,
+            -0.18515373766422272,
+            -10.05344009399414,
+            -1.2494670152664185,
+            0.0,
+            -0.4512298107147217,
+            -0.04883969947695732,
+            -0.1454692780971527,
+            -8.952526092529297,
+            -1.9248627424240112,
+            -2.7481930255889893,
+            -0.09233665466308594,
+            -0.03403349593281746,
+            -0.14957840740680695,
+            -0.01811043918132782,
+            -4.653857831726782e-05,
+            -0.00010226127778878435,
+            -0.0024820459075272083,
+            -0.00019380052981432527,
+            -0.00041114952182397246,
+            -0.01461704634130001,
+            -4.7035056923050433e-05,
+            -0.00010668290633475408,
+            -0.0018442552536725998,
+            -0.00014213388203643262,
+            -0.00029690127121284604
+        ],
+        "max": [
+            5.805403709411621,
+            24.905759811401367,
+            21.99614715576172,
+            1.722253045954858e-06,
+            0.03386831283569336,
+            0.12025602161884308,
+            14.453139305114746,
+            25.9534854888916,
+            16.853965759277344,
+            1.1407290685383487e-06,
+            0.04839319363236427,
+            0.21136309206485748,
+            0.1656804382801056,
+            0.049653202295303345,
+            0.15878553688526154,
+            1.6076219253591262e-06,
+            0.00021374771313276142,
+            0.002622725209221244,
+            4.46832275390625,
+            1.1878989934921265,
+            0.5018876194953918,
+            0.013188046403229237,
+            0.002368799177929759,
+            0.08054888248443604,
+            2.283886194229126,
+            0.5799336433410645,
+            0.09960004687309265,
+            0.0028162437956780195,
+            0.0004836935841012746,
+            0.03323647007346153,
+            7.925804615020752,
+            13.30347728729248,
+            13.470121383666992,
+            0.0012157706078141928,
+            0.04190482199192047,
+            0.16442784667015076,
+            10.52392864227295,
+            19.665510177612305,
+            31.054466247558594,
+            0.0,
+            0.030648553743958473,
+            0.1869836300611496,
+            0.11624579131603241,
+            1.9258543252944946,
+            5.179617881774902,
+            0.04838348180055618,
+            0.016868550330400467,
+            0.0018266618717461824,
+            0.06185748428106308,
+            0.04920116439461708,
+            0.1404450535774231,
+            1.8807595552061684e-06,
+            0.0006050026277080178,
+            0.0009993512649089098,
+            0.01540359016507864,
+            0.029207739979028702,
+            0.08154914528131485,
+            1.97933150047902e-06,
+            0.0003636913315858692,
+            0.000224883493501693
+        ],
+        "mean": [
+            -0.05599335511200114,
+            0.05926753916437848,
+            0.14273019482015595,
+            -0.002525334022743508,
+            -0.0002886227194128424,
+            -0.0008390090589801992,
+            0.051661493161264525,
+            0.10191060496836696,
+            0.13243124709757323,
+            -0.002551757361526432,
+            9.332943575840108e-05,
+            0.0009312006970169887,
+            -0.0012360145766568092,
+            0.002759884333716714,
+            0.008049560821919021,
+            -0.0001515517901757298,
+            1.1579531571442014e-05,
+            -2.689872465805684e-05,
+            -0.006119241412454852,
+            0.0019832675556761144,
+            0.006206595232850797,
+            -0.00010655794806072625,
+            -2.615624516736695e-06,
+            -8.488108061248323e-05,
+            0.0021664989432993026,
+            0.0009861634818493215,
+            0.0023784150798638434,
+            -4.696646592924493e-05,
+            1.8628440781463868e-06,
+            3.4411780186969215e-05,
+            0.9455601490394376,
+            1.4232180578763596,
+            1.8019805179604915,
+            -0.03766379548300297,
+            0.0033180542290514067,
+            0.01873307486306444,
+            -0.18054653366749732,
+            2.4493288508532944,
+            4.431436917358992,
+            -0.08939329464834443,
+            -0.003642064740068214,
+            -0.0019433908513902312,
+            -0.0013074531036760654,
+            0.004633297635465379,
+            0.01280844704189672,
+            -0.0002595272784843902,
+            3.566005191715188e-05,
+            -3.3258618731911354e-05,
+            -0.00041432504930400847,
+            0.006396083062516225,
+            0.018537413443758494,
+            -0.0003203642173466425,
+            1.8179123856131267e-05,
+            -1.502134610148789e-05,
+            -0.001027654681536039,
+            0.004101131818775143,
+            0.011723180110451745,
+            -0.00025465304961108453,
+            3.366095384501367e-06,
+            -2.3636681573076785e-05
+        ],
+        "std": [
+            0.5916274627588892,
+            0.6192373912765957,
+            1.3182546004958704,
+            0.023003469059897856,
+            0.002796617421918674,
+            0.009477603862890694,
+            0.6045305125195274,
+            1.0338127684794023,
+            1.1843249935246607,
+            0.02313855465715082,
+            0.00133999660461422,
+            0.010839136402753309,
+            0.002772599828436516,
+            0.004638978274949487,
+            0.01349422811921846,
+            0.00026594112897713334,
+            2.5656477384470885e-05,
+            5.746252461028938e-05,
+            0.0716314043051829,
+            0.009278089308923614,
+            0.019065401042121177,
+            0.0002875323151758525,
+            6.186217401075113e-05,
+            0.0010536269210375414,
+            0.02872806309829708,
+            0.005201375064499488,
+            0.00625302960625671,
+            0.0001137882889538874,
+            1.8501638177038614e-05,
+            0.000451878466378859,
+            1.75518702366179,
+            2.0865409989157193,
+            2.535938754247088,
+            0.05342817110755799,
+            0.007823924381518929,
+            0.03594062426336499,
+            1.7916435975916558,
+            3.333665759904649,
+            5.914655746386839,
+            0.11549621674811669,
+            0.007820271014271024,
+            0.033485673713606216,
+            0.10666225180008042,
+            0.02019178383221713,
+            0.038241409146252,
+            0.0006900906731925188,
+            0.00023394629259182982,
+            0.0017586429434926192,
+            0.004312768925497701,
+            0.006394147438215976,
+            0.0184750373423352,
+            0.00033235046476979093,
+            5.7581867450927166e-05,
+            7.043765076153856e-05,
+            0.0014184214756930884,
+            0.00399827712024553,
+            0.011415158802957294,
+            0.0002542378958632151,
+            2.3131688650593164e-05,
+            2.8207763909456443e-05
+        ],
+        "count": [
+            66777
+        ],
+        "q01": [
+            -0.898796242882957,
+            -0.00014582545748326983,
+            -7.856781442546731e-05,
+            -0.028239298866505065,
+            -0.004358477971683097,
+            -0.014718552990213768,
+            -0.017566358856147678,
+            2.7295063554627736e-06,
+            3.099220389177382e-05,
+            -0.03255115479209391,
+            -0.0008825880292843098,
+            -0.00016860887046849969,
+            -0.008944943380644162,
+            -3.544163699063155e-05,
+            -7.861073415699787e-05,
+            -0.0009215647477805245,
+            -1.4362543210821794e-05,
+            -0.00019248558255791927,
+            -0.11715586059659745,
+            -0.0012195808842320308,
+            -7.57549873334201e-05,
+            -0.0009161322363654887,
+            -0.00011998133321398859,
+            -0.0016102778052328518,
+            -0.0009518420611999757,
+            -5.466702911818496e-05,
+            -0.0001248998516885676,
+            -0.0004024480555571838,
+            -1.3995528371854508e-05,
+            -2.3719548296142092e-05,
+            -1.2322732590440986,
+            -0.00016530233321892775,
+            -8.499560213336905e-05,
+            -0.17241484349961075,
+            -0.011158882482917213,
+            -0.029269385722160913,
+            -4.657445325430169,
+            -6.351871494676982e-05,
+            -1.000000013351432e-10,
+            -0.32369140746667335,
+            -0.026939454323425677,
+            -0.08463128735194887,
+            -0.01855334543839423,
+            -5.582509483069513e-05,
+            -0.00011848365338614544,
+            -0.0010675569262793506,
+            -2.1854526309213806e-05,
+            -0.00028392686022983744,
+            -0.007608626198642947,
+            -4.065893337939053e-05,
+            -8.838164507391827e-05,
+            -0.001202649314774332,
+            -6.151047859025697e-05,
+            -0.00016750789407781749,
+            -0.004976922749732674,
+            -2.6290143079069494e-05,
+            -4.682278421898915e-05,
+            -0.0008957112315765914,
+            -3.957913923879219e-05,
+            -0.00010344411278483313
+        ],
+        "q10": [
+            -0.07726705405492126,
+            1.2166069594237523e-05,
+            2.3788572278486938e-05,
+            -0.011819206800183822,
+            -0.00023968640497897345,
+            -0.0009037741902819002,
+            -0.002228722726690403,
+            0.00019709745575586046,
+            0.0009741046299122941,
+            -0.008163383016304735,
+            -2.081589108025095e-06,
+            -5.264780582790264e-05,
+            -0.0038641434635148676,
+            8.885537252206574e-05,
+            0.0002725133310190103,
+            -0.00042995605418671675,
+            -3.0576446923217667e-06,
+            -8.369056329243958e-05,
+            -0.013825810224082028,
+            -0.00022553692071033033,
+            -7.066284240944957e-05,
+            -0.0003125886010258676,
+            -1.8111477806238053e-05,
+            -0.00020783229052120358,
+            -0.00011929668432823654,
+            -4.504357344711015e-05,
+            -9.67740106033222e-05,
+            -0.00015483976599826025,
+            -3.722733959380057e-06,
+            -5.4671597143295315e-06,
+            -0.01989341541987855,
+            0.0019830200379829114,
+            0.0065020742013411886,
+            -0.1213686072088353,
+            -0.0015627215396325134,
+            -0.0005251244702441438,
+            -2.6757724741629634,
+            0.005929027306139588,
+            0.017617524564974126,
+            -0.2762270704623921,
+            -0.015399802556252284,
+            -0.04741513638639862,
+            -0.0015733932710081285,
+            9.444983105037099e-05,
+            0.0003018172740480057,
+            -0.0006201255771958173,
+            -3.3173857045132884e-06,
+            -3.985266205740574e-05,
+            -0.00358372842833847,
+            0.00038182647579370753,
+            0.0011110226698292987,
+            -0.0007238438299952781,
+            -2.342538674136867e-05,
+            -7.477788107399114e-05,
+            -0.0027511245216255693,
+            0.0003000797853070643,
+            0.0008743962236214044,
+            -0.0005625262305094074,
+            -1.6816668348121973e-05,
+            -5.804849991845239e-05
+        ],
+        "q50": [
+            -0.006060795658100041,
+            0.00474747312950782,
+            0.013094464398789982,
+            -0.0002513278943098928,
+            -3.93541387198123e-05,
+            -0.00010659375066641327,
+            0.0008743147760659988,
+            0.0041488385239949995,
+            0.011816197886073587,
+            -0.00022972271055114838,
+            2.5559868729115717e-05,
+            8.503522367100338e-06,
+            -0.00040907911757290277,
+            0.001249138983125669,
+            0.0036337105852505785,
+            -6.580791720692586e-05,
+            4.663928307015843e-06,
+            -9.219865448254686e-06,
+            -4.176596746505692e-05,
+            0.0004776788981624098,
+            0.001548917146765943,
+            -2.759770328532639e-05,
+            -3.945729355746733e-07,
+            -5.701493490634418e-07,
+            0.00033892768388338676,
+            0.00013114172443220453,
+            0.00042017621503074253,
+            -8.79758827723869e-06,
+            -6.417036545924583e-07,
+            6.6244445962787645e-06,
+            0.04014003594666404,
+            0.09429533860226305,
+            0.19498151037205821,
+            -0.0040481629824626565,
+            0.00024136252221502422,
+            0.0005416984787591642,
+            0.008349141634563774,
+            0.3065753670653227,
+            0.6556453381634559,
+            -0.014889236787532846,
+            -0.00043217971112459095,
+            0.00030811341314530214,
+            7.674915047302614e-05,
+            0.0031623680640866267,
+            0.009239411987792288,
+            -0.00018979898899679104,
+            1.9476427460434726e-05,
+            -6.947303353449192e-06,
+            -0.00028564409568383715,
+            0.0050828425283112825,
+            0.014702840964297002,
+            -0.00024945317745066686,
+            7.280103741634413e-06,
+            -6.939140551666548e-06,
+            -0.0007399603015872443,
+            0.0033909192258224576,
+            0.00968061342380096,
+            -0.00020770008524281542,
+            1.1966945306761737e-06,
+            -1.8588585062947354e-05
+        ],
+        "q90": [
+            0.0005614880009788725,
+            0.17875657923845092,
+            0.5631930317364713,
+            -4.2724532636873695e-06,
+            3.708783570742152e-06,
+            1.2960971293772508e-05,
+            0.07675252607503383,
+            0.3039092997414426,
+            0.48497454421806313,
+            -2.015583187253149e-05,
+            0.00012308523753862323,
+            0.0012394445123659987,
+            0.00019204194650229047,
+            0.007808139195775979,
+            0.02268526585760714,
+            -4.198232889488184e-06,
+            3.782943768620663e-05,
+            3.9145934854017915e-06,
+            0.00044406542151253034,
+            0.005433970042339541,
+            0.017756431256210084,
+            1.1511490008257148e-06,
+            1.4653663587154274e-05,
+            7.640642871795524e-06,
+            0.006876564450804986,
+            0.002985141155302065,
+            0.007920109242172558,
+            1.7957038701823678e-06,
+            1.1066630175292004e-05,
+            0.00011037407891111789,
+            3.694495066951342,
+            4.526283951035442,
+            5.663213626832405,
+            -0.0001339381963718617,
+            0.01506295848353529,
+            0.07440222899983198,
+            1.4928582736417921,
+            7.264847189739478,
+            13.97102245313487,
+            -0.00034480724384649967,
+            0.001198839393552371,
+            0.03193784934505429,
+            0.002910063422616935,
+            0.010392866749785325,
+            0.030329891781331428,
+            -5.853011680835438e-06,
+            9.795504162833138e-05,
+            3.1476085136631463e-05,
+            0.002163336616125752,
+            0.014281577727077773,
+            0.041363956166035214,
+            -1.7748868560209236e-05,
+            7.382312286125974e-05,
+            2.6461063666483147e-05,
+            0.00026873508721601515,
+            0.008922218961111925,
+            0.025541134698037992,
+            -1.8039607141065004e-05,
+            2.6238220933138136e-05,
+            4.282780493216486e-06
+        ],
+        "q99": [
+            0.11861052960399356,
+            0.8261698294618793,
+            1.747510508118944,
+            1.0857518814951343e-06,
+            0.00024964754514095633,
+            0.0032453309217685172,
+            0.9144018878241201,
+            1.5768043456275112,
+            1.6263572809475964,
+            -1.5898435669771258e-06,
+            0.002175302360102235,
+            0.017445768589699186,
+            0.00031206636934557594,
+            0.015896921507786425,
+            0.04634275204999652,
+            1.444982463208542e-06,
+            8.033254995081326e-05,
+            5.648374466163486e-06,
+            0.003272283933999872,
+            0.017928995516104995,
+            0.0566568282837458,
+            1.3232686995045972e-06,
+            5.935599865464999e-05,
+            4.921625092016184e-05,
+            0.022466072846674866,
+            0.009442855094730949,
+            0.02075349166238433,
+            2.3568162426952085e-06,
+            4.0074985533741316e-05,
+            0.00036293679296860176,
+            5.602282749056678,
+            7.392306401844622,
+            8.106716893819407,
+            -2.8130174223942933e-06,
+            0.02413954828631562,
+            0.11820376995075138,
+            4.418207115554541,
+            11.24481731019512,
+            17.33518460621975,
+            -1.361425364443086e-05,
+            0.009377797924043285,
+            0.08540067411440354,
+            0.013440313733715107,
+            0.020812212019286923,
+            0.056946715921852686,
+            1.92639083223737e-06,
+            0.00023512814000569232,
+            0.0001661706760105033,
+            0.009229757125902143,
+            0.023371520476343624,
+            0.06787828459958273,
+            1.5731778263931498e-06,
+            0.00018275593940195777,
+            0.0001161473168628818,
+            0.0008339833014516813,
+            0.014188174470476536,
+            0.04045095837497283,
+            8.267234007493383e-07,
+            6.408126838989394e-05,
+            1.0098838113639453e-05
+        ]
+    },
+    "observation.images.head_left": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.5417736064001577
+                ]
+            ],
+            [
+                [
+                    0.5414450518101183
+                ]
+            ],
+            [
+                [
+                    0.5434064073085885
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0045554438814240615
+                ]
+            ],
+            [
+                [
+                    0.004511837201672547
+                ]
+            ],
+            [
+                [
+                    0.0045318133243323925
+                ]
+            ]
+        ],
+        "count": [
+            1709491200
+        ],
+        "q01": [
+            [
+                [
+                    0.09369842214716198
+                ]
+            ],
+            [
+                [
+                    0.09265209659404348
+                ]
+            ],
+            [
+                [
+                    0.09924659310856887
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.22878816772975183
+                ]
+            ],
+            [
+                [
+                    0.22844204131026755
+                ]
+            ],
+            [
+                [
+                    0.22975703574379186
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.3594976175878452
+                ]
+            ],
+            [
+                [
+                    0.35913308721206705
+                ]
+            ],
+            [
+                [
+                    0.3590618071297367
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.9519523597915757
+                ]
+            ],
+            [
+                [
+                    0.9503339982185003
+                ]
+            ],
+            [
+                [
+                    0.9570214705819486
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9921882442300636
+                ]
+            ],
+            [
+                [
+                    0.9921882945772906
+                ]
+            ],
+            [
+                [
+                    0.995759857971911
+                ]
+            ]
+        ]
+    },
+    "action": {
+        "min": [
+            0.9446206092834473,
+            -0.9055802226066589,
+            -0.2526313364505768,
+            0.8676711320877075,
+            -1.9862958192825317,
+            -0.7699999809265137,
+            -0.2360142171382904,
+            0.0,
+            -0.291445791721344,
+            -0.29184046387672424,
+            -0.3490658402442932,
+            0.0,
+            -0.1745329201221466,
+            -0.12683016061782837,
+            0.0,
+            0.0,
+            -0.1745329201221466,
+            -0.06748444586992264,
+            0.0,
+            0.0,
+            -0.1745329201221466,
+            -0.11513382941484451,
+            0.0,
+            0.0,
+            0.0,
+            -0.15213795006275177,
+            -0.24024909734725952,
+            0.0,
+            0.0,
+            0.8825318217277527,
+            -1.016038179397583,
+            -0.23338915407657623,
+            0.718757688999176,
+            -1.805427074432373,
+            -0.9387300610542297,
+            -0.7579284906387329,
+            0.0,
+            -0.3227876126766205,
+            0.0,
+            -0.3304663300514221,
+            -0.1745329201221466,
+            0.0,
+            -0.22529274225234985,
+            0.0,
+            0.0,
+            0.0,
+            -0.12644684314727783,
+            0.0,
+            0.0,
+            0.0,
+            -0.1282685399055481,
+            0.0,
+            0.0,
+            0.0,
+            -0.07299835979938507,
+            -0.19653087854385376,
+            0.0,
+            0.0,
+            0.5600947141647339,
+            -1.1070547103881836,
+            0.5241100788116455,
+            -0.05621827766299248,
+            -0.09077291190624237,
+            -0.061989765614271164,
+            -0.8728349804878235
+        ],
+        "max": [
+            1.283961534500122,
+            -0.47044554352760315,
+            6.938893903907228e-18,
+            1.5700000524520874,
+            0.03346046805381775,
+            0.378768652677536,
+            0.881135880947113,
+            1.3446300029754639,
+            0.09089892357587814,
+            0.5335323810577393,
+            0.33834928274154663,
+            0.4822549521923065,
+            1.326350450515747,
+            0.302800714969635,
+            1.095689058303833,
+            0.659324049949646,
+            1.5707963705062866,
+            0.27046823501586914,
+            1.7453292608261108,
+            0.8497676253318787,
+            1.5707963705062866,
+            0.20431774854660034,
+            1.7453292608261108,
+            0.8253393769264221,
+            0.15172025561332703,
+            1.517202615737915,
+            0.18504703044891357,
+            1.7453292608261108,
+            1.3962633609771729,
+            1.3849165439605713,
+            -0.09396734833717346,
+            7.374520301702155e-18,
+            1.7442299127578735,
+            0.915992259979248,
+            0.2703567445278168,
+            0.8010608553886414,
+            1.5881922245025635,
+            0.0,
+            0.9439220428466797,
+            0.3490658402442932,
+            0.594087541103363,
+            1.2207611799240112,
+            0.31380563974380493,
+            1.2729743719100952,
+            1.296309471130371,
+            1.5707963705062866,
+            0.3490658402442932,
+            1.7453292608261108,
+            1.3962633609771729,
+            1.5707963705062866,
+            0.2787157893180847,
+            1.7453292608261108,
+            1.3962633609771729,
+            0.09367828816175461,
+            1.5707963705062866,
+            0.3490658402442932,
+            1.7453292608261108,
+            1.3962633609771729,
+            0.5627791881561279,
+            -1.106767177581787,
+            0.7509852051734924,
+            0.05656036362051964,
+            0.11544002592563629,
+            0.28219905495643616,
+            -0.45835113525390625
+        ],
+        "mean": [
+            1.160629852046196,
+            -0.7156617284581593,
+            -0.14125506431259308,
+            1.1268820436445302,
+            -0.1249663703117823,
+            -0.1826078086289898,
+            0.4962487795531204,
+            1.0847055984103584,
+            -0.10512734569563016,
+            -0.010731835050496755,
+            0.0033383327650160057,
+            0.46995046459579,
+            0.5429853891381814,
+            0.0597512740713765,
+            0.13571075186411646,
+            0.2931511038760211,
+            0.36387493229123496,
+            0.0890570216377989,
+            0.1403561231543294,
+            0.06377275979865887,
+            0.17466157827885767,
+            0.06378187758367382,
+            0.2293336044520646,
+            0.354668021471204,
+            0.018349566018851984,
+            0.12874368438069722,
+            -0.034252067624981376,
+            0.22363275925146406,
+            0.1836671814083731,
+            1.1018911389032657,
+            -0.5801706448475633,
+            -0.2192093386059207,
+            1.3161706870311667,
+            -1.0771505680904625,
+            -0.3808526975084355,
+            0.11548209680541363,
+            1.3339609053013632,
+            -0.19412601837788473,
+            0.5372358462805411,
+            -0.019810064415351557,
+            0.06923403883105626,
+            0.8907071125884565,
+            0.1805332144469209,
+            0.08628076555569067,
+            0.5486963819650198,
+            1.4695943482154903,
+            0.1789242108621864,
+            1.6123327797777414,
+            1.1492500927437672,
+            1.4434397123390406,
+            0.14119915693227583,
+            1.6326312202023199,
+            1.177055062847728,
+            0.0710681695402653,
+            1.466924216449265,
+            0.25540822230325544,
+            1.646529135164986,
+            1.3170037213662447,
+            0.562060435241678,
+            -1.1068794920875185,
+            0.6652028131051543,
+            -0.01427015661344769,
+            -0.0017673521724426973,
+            0.14730321987250033,
+            -0.8588244459572183
+        ],
+        "std": [
+            0.04268243319275888,
+            0.07685982676021508,
+            0.023675905788367,
+            0.15591892462177737,
+            0.23193809768669787,
+            0.18906622059327147,
+            0.1457763595379408,
+            0.18701656238006428,
+            0.11179087905700373,
+            0.25543751729747444,
+            0.2934781321991472,
+            0.0760470072707066,
+            0.2615168387859266,
+            0.052265409282176885,
+            0.097340587620841,
+            0.06706915473615331,
+            0.3838756212097811,
+            0.04624361348571529,
+            0.32114109423315723,
+            0.149487001377189,
+            0.36113857056089393,
+            0.05502346660702271,
+            0.40114514185455324,
+            0.11372776580429134,
+            0.03159413796051735,
+            0.33979826237210237,
+            0.08089533067543661,
+            0.4731590513582228,
+            0.38173016226417794,
+            0.06401860829880222,
+            0.15921314142701573,
+            0.030467304447539992,
+            0.18669641142124993,
+            0.3707137421187639,
+            0.1824728364663285,
+            0.19340236778386982,
+            0.21067469781998627,
+            0.06141422046259346,
+            0.18510018072743456,
+            0.11680468886339013,
+            0.15098623189912871,
+            0.22132909546385493,
+            0.07318011548432993,
+            0.11626290248332173,
+            0.2775343721412902,
+            0.3552821346087669,
+            0.05777595318803036,
+            0.435625659901233,
+            0.32166593299637924,
+            0.37547114002797294,
+            0.05659655286350765,
+            0.4249762461384555,
+            0.3307573619427591,
+            0.019514335934797847,
+            0.3894223074371766,
+            0.08385161264085804,
+            0.38467197485757815,
+            0.3084437214396077,
+            0.001538009730121079,
+            0.00381739584784005,
+            0.03123774688970933,
+            0.015986891890201083,
+            0.030978918046710432,
+            0.06844944308848089,
+            0.05169216185109057
+        ],
+        "count": [
+            66777
+        ],
+        "q01": [
+            1.0495233907999342,
+            -0.7905572026879969,
+            -0.161229115037895,
+            1.0396068993048908,
+            -0.2793273811319245,
+            -0.7136912897739891,
+            0.3440691764314103,
+            -1.000000013351432e-10,
+            -0.14722951377869192,
+            -0.13985511853910643,
+            -0.15618476137381154,
+            -1.000000013351432e-10,
+            -0.04288697450578638,
+            -0.013649253798117256,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -0.16208910987805591,
+            -0.006189952933345773,
+            -1.000000013351432e-10,
+            -9.367893728827523e-11,
+            -0.14410370963937913,
+            -0.03418436441248305,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -9.255878663509893e-11,
+            -0.1498405239611138,
+            -0.1639715845251663,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            1.0122007263986237,
+            -0.8198071478524078,
+            -0.23021079554448626,
+            0.9654013113376005,
+            -1.3358463869911685,
+            -0.7335230678785819,
+            -0.2001001307919829,
+            0.03506653030198408,
+            -0.2714105117143047,
+            -1.000000013351432e-10,
+            -0.22448036591812873,
+            -0.15781168685090363,
+            -1.000000013351432e-10,
+            -0.11332473489209846,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -0.029622233298310128,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -0.05558878006959704,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -0.061231391950779236,
+            -0.08407597539207515,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            0.5620301707099326,
+            -1.1069343635220454,
+            0.5533870689975509,
+            -0.02663593708001624,
+            -0.036417004416769407,
+            0.005277175310821394,
+            -0.8726737324452326
+        ],
+        "q10": [
+            1.140936180130476,
+            -0.7301013135725387,
+            -0.1515588094308613,
+            1.074783538378191,
+            -0.19069162318635055,
+            -0.34155275959413917,
+            0.3890763888177213,
+            1.0802250470946035,
+            -0.125538165321374,
+            -0.08654361949250777,
+            -0.00844524619089316,
+            0.48216584920936395,
+            0.23959367852788022,
+            0.027274132650794296,
+            0.049051574786814156,
+            0.2884170583926772,
+            0.07905417456904161,
+            0.061987989600238276,
+            0.017522252807162804,
+            0.01619103760429648,
+            0.013767345811961516,
+            0.013732530573241971,
+            0.024039394612285114,
+            0.3290086030038697,
+            0.0026678335088414994,
+            -0.051144878111382304,
+            -0.09934280436454108,
+            0.007227399656059031,
+            0.005647879792371141,
+            1.0388066655275092,
+            -0.7337016487537039,
+            -0.22924240496319745,
+            1.088856936395804,
+            -1.2658538196841815,
+            -0.5642792292323406,
+            -0.08658761913992845,
+            1.3073536739068048,
+            -0.24479812073382726,
+            0.2974907527229763,
+            -0.14281012251420006,
+            -0.11020707535381423,
+            0.7014250453510552,
+            0.12308763701159638,
+            0.006152445774786547,
+            0.07348406538390227,
+            1.4992895463303306,
+            0.1472965137048662,
+            1.6050062065310022,
+            1.0913569311065516,
+            1.44710400025714,
+            0.11032332983134786,
+            1.7101023599577498,
+            1.1029384164254912,
+            0.06773119315102216,
+            1.5336903819081413,
+            0.22911520289812737,
+            1.725195720280895,
+            1.3801606714190195,
+            0.5620466870146025,
+            -1.1068865835175419,
+            0.6482414094940194,
+            -0.022125672609363666,
+            -0.010817630342535309,
+            0.11196556188048513,
+            -0.8726725900280213
+        ],
+        "q50": [
+            1.1613066232145386,
+            -0.7193514352847608,
+            -0.14401933825802973,
+            1.1228430735882329,
+            -0.1208918983147534,
+            -0.16369521999819775,
+            0.4741382012909221,
+            1.1108000136357445,
+            -0.10844872553531855,
+            -0.017186628122311486,
+            0.00040541754786248133,
+            0.4822054505351162,
+            0.6191901012532551,
+            0.062430262604879154,
+            0.1419230256696533,
+            0.307159356256407,
+            0.4245500793201826,
+            0.09243878010152133,
+            0.14854972254055343,
+            0.0759266515648195,
+            0.20258874065183785,
+            0.06781768950943177,
+            0.2599623620268819,
+            0.3724716335417897,
+            0.019808357934972258,
+            0.1517315300036985,
+            -0.03090176248493444,
+            0.24196914902370392,
+            0.19638176843912686,
+            1.0979115089429252,
+            -0.6085350444051605,
+            -0.2260843680433048,
+            1.3467406962673498,
+            -1.1686945902077313,
+            -0.39537646929837766,
+            0.09742658124083671,
+            1.3636933354862402,
+            -0.2010492329279958,
+            0.5597452766747204,
+            -0.027829868793944584,
+            0.057255057150749605,
+            0.9288837623531759,
+            0.19845631577620634,
+            0.06088637964381139,
+            0.6070992106539606,
+            1.5653181316920524,
+            0.18839348786253213,
+            1.7381830475078612,
+            1.2277116184694294,
+            1.5414435436089118,
+            0.14711934986046152,
+            1.7451416678631912,
+            1.2589063895162127,
+            0.07617795547691032,
+            1.5706202919123742,
+            0.27093531609058363,
+            1.745142095545769,
+            1.3961137054337935,
+            0.5620467316610657,
+            -1.1068865601250641,
+            0.6688661016414165,
+            -0.01465621383860404,
+            -0.0021795473626352586,
+            0.15515368199317658,
+            -0.8726675126181924
+        ],
+        "q90": [
+            1.1881687334956161,
+            -0.6977653897931588,
+            -0.13627036638031634,
+            1.153642400162901,
+            -0.0713220913958601,
+            -0.033014592141162945,
+            0.6459865708656503,
+            1.143602268265932,
+            -0.08830876698094361,
+            0.0687458492711231,
+            0.029349309790837604,
+            0.48224505186086847,
+            0.7321060034269222,
+            0.08572016223559178,
+            0.21111884515934023,
+            0.31124980143928554,
+            0.5389334789757543,
+            0.11288312284233751,
+            0.27326517236598935,
+            0.09835333394219897,
+            0.28208194972046,
+            0.10624204808001417,
+            0.34510606204215055,
+            0.3853055848396652,
+            0.029226152373956704,
+            0.2528069058594079,
+            0.020059136999121922,
+            0.38037491425733855,
+            0.31522672527531365,
+            1.1569535787362406,
+            -0.3641126617404307,
+            -0.21447654918944103,
+            1.4973787049483376,
+            -0.8352443157622542,
+            -0.16523627874340738,
+            0.34918181110050756,
+            1.420890802319037,
+            -0.14089364981674335,
+            0.7445838553269974,
+            0.09876060802157684,
+            0.2575921661967308,
+            1.0754700333591771,
+            0.23367499281969617,
+            0.1844490744757394,
+            0.8478804204275084,
+            1.570755785845725,
+            0.22355843436391468,
+            1.7434078983104442,
+            1.3047253199501556,
+            1.5625075102642167,
+            0.1871502525837444,
+            1.745291742233527,
+            1.3411816588136154,
+            0.07883486937427521,
+            1.5707611547875038,
+            0.30658159602138463,
+            1.7452918277700427,
+            1.3962334298684969,
+            0.5620467763075286,
+            -1.1068865367325873,
+            0.6824634417310923,
+            -0.006401160979796676,
+            0.010846429416111197,
+            0.17753663285165514,
+            -0.8517683082875473
+        ],
+        "q99": [
+            1.2058014719939647,
+            -0.6077489282873497,
+            -0.017291931491493995,
+            1.517102128236955,
+            -0.005851958905356044,
+            0.0019142950178370915,
+            0.7309211241535749,
+            1.1555381030145424,
+            0.01606264628771041,
+            0.2125526946352793,
+            0.16996438476842204,
+            0.48225396215916255,
+            0.7645069349668868,
+            0.10173623331297973,
+            0.2611388704369237,
+            0.3175462982880293,
+            0.5712271022872858,
+            0.12423359097808812,
+            0.2879014766183165,
+            0.11010282086896657,
+            0.3001756611984351,
+            0.11938020786905826,
+            0.3885271047968992,
+            0.38936636779171396,
+            0.032049841997476125,
+            0.29082979019449895,
+            0.04073769796603328,
+            0.4262805328100149,
+            0.35455785156642744,
+            1.287886594932956,
+            -0.26465551690039807,
+            -0.034916335531207814,
+            1.58890722444687,
+            0.25291919777034416,
+            -0.019715453439430892,
+            0.5460834322746315,
+            1.493537091100477,
+            -2.441797442546752e-05,
+            0.7943381857801686,
+            0.3490234365655441,
+            0.388704368928943,
+            1.1192812206159732,
+            0.2637968342814043,
+            0.4949502440701165,
+            0.9509726863939117,
+            1.5707923120402305,
+            0.25514906574414664,
+            1.7440179391370718,
+            1.3508081259955802,
+            1.5670521213785502,
+            0.22029739953296276,
+            1.7453255089668527,
+            1.3724923250171501,
+            0.08052350208826922,
+            1.5707928489344083,
+            0.3332926559026541,
+            1.7453255175205038,
+            1.3962603678663053,
+            0.5626640293759341,
+            -1.1068603232089143,
+            0.6905684130045497,
+            0.007610772088230445,
+            0.02137431380073781,
+            0.18414423148211442,
+            -0.588226229130573
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            111.3
+        ],
+        "mean": [
+            30.590155792163966
+        ],
+        "std": [
+            21.075461579503997
+        ],
+        "count": [
+            66777
+        ],
+        "q01": [
+            0.5949591530155368
+        ],
+        "q10": [
+            6.105279164822045
+        ],
+        "q50": [
+            30.58282978171124
+        ],
+        "q90": [
+            55.07296181735245
+        ],
+        "q99": [
+            60.5853524313124
+        ]
+    },
+    "observation.state.tcp_pose": {
+        "min": [
+            0.3378494679927826,
+            0.06674107909202576,
+            0.8905200958251953,
+            -1.3694757223129272,
+            1.1518625020980835,
+            -1.7520662546157837,
+            0.24040693044662476,
+            -0.29014822840690613,
+            0.8811264634132385,
+            -2.301933765411377,
+            -2.79691219329834,
+            -1.798527479171753
+        ],
+        "max": [
+            0.5022906064987183,
+            0.34919142723083496,
+            1.0518418550491333,
+            0.851762056350708,
+            2.351612091064453,
+            -0.2581244111061096,
+            0.5234955549240112,
+            0.05965886637568474,
+            1.0574142932891846,
+            2.2931013107299805,
+            2.7856130599975586,
+            1.7978566884994507
+        ],
+        "mean": [
+            0.44782049466068824,
+            0.2622421034539448,
+            0.9641522027646184,
+            -1.0686504169924806,
+            1.5181358347153024,
+            -1.3350243567599225,
+            0.3710225228493748,
+            -0.12391319270468391,
+            0.9306795446951295,
+            0.04174626862074135,
+            1.8996303427820462,
+            0.9514564701624204
+        ],
+        "std": [
+            0.02984136774852735,
+            0.029317661771583157,
+            0.02726852019338848,
+            0.23957752145228906,
+            0.18260568410304215,
+            0.1596180197125196,
+            0.041339786249675846,
+            0.06175999227851465,
+            0.03001939309717027,
+            0.41346514432034015,
+            0.4092459770553526,
+            0.32620001512066205
+        ],
+        "count": [
+            66777
+        ],
+        "q01": [
+            0.3716632970899564,
+            0.18818266286079022,
+            0.9383489353769406,
+            -1.2293943206980225,
+            1.2124249470454658,
+            -1.469038984095905,
+            0.3133107266644354,
+            -0.23209264184581138,
+            0.8988387125185888,
+            -0.5256942363530674,
+            0.8575082328829953,
+            0.35153231190234
+        ],
+        "q10": [
+            0.43963116473067937,
+            0.2500420442259134,
+            0.9443591869039221,
+            -1.1781387967612411,
+            1.3242494525279476,
+            -1.425939501094941,
+            0.3281760647847493,
+            -0.19799070343022182,
+            0.9069340553662261,
+            -0.3055904444650358,
+            1.6098443430832736,
+            0.6888961017942726
+        ],
+        "q50": [
+            0.4487621412705768,
+            0.2650093058795703,
+            0.9601714383837109,
+            -1.094002178115822,
+            1.5406831118269784,
+            -1.3362045044542281,
+            0.3672032293011376,
+            -0.12386755362466503,
+            0.9227030369556295,
+            0.012215321621247475,
+            1.967040489198594,
+            0.9573757417262563
+        ],
+        "q90": [
+            0.4608604141567769,
+            0.27827724449726987,
+            0.9879476631959166,
+            -0.9078501555330413,
+            1.6717170170436635,
+            -1.2583725123442089,
+            0.4153737986770625,
+            -0.047004107060543934,
+            0.9631517364214303,
+            0.2945684686660434,
+            2.1078668395583042,
+            1.2144612334866511
+        ],
+        "q99": [
+            0.4713247578637423,
+            0.28563403003770105,
+            1.0410534895710855,
+            -0.7348605994818007,
+            1.7157553336946942,
+            -1.1371489956531646,
+            0.48241934226053035,
+            -0.007173547957957465,
+            1.0433273686314521,
+            1.3608387475735575,
+            2.222760899093547,
+            1.4375838692135294
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            66777
+        ],
+        "q01": [
+            3.999999999999418e-16
+        ],
+        "q10": [
+            3.99999999999942e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.599999999999476e-14
+        ],
+        "q99": [
+            3.9599999999994235e-14
+        ]
+    },
+    "observation.images.tactile_raw": {
+        "min": [
+            [
+                [
+                    0.01568627450980392
+                ]
+            ],
+            [
+                [
+                    0.01568627450980392
+                ]
+            ],
+            [
+                [
+                    0.01568627450980392
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.46837569390979017
+                ]
+            ],
+            [
+                [
+                    0.46837569390979017
+                ]
+            ],
+            [
+                [
+                    0.46837569390979017
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0009739039362984554
+                ]
+            ],
+            [
+                [
+                    0.0009739039362984554
+                ]
+            ],
+            [
+                [
+                    0.0009739039362984554
+                ]
+            ]
+        ],
+        "count": [
+            512847360
+        ],
+        "q01": [
+            [
+                [
+                    0.08227934471186685
+                ]
+            ],
+            [
+                [
+                    0.08227934471186685
+                ]
+            ],
+            [
+                [
+                    0.08227934471186685
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.1725640708452247
+                ]
+            ],
+            [
+                [
+                    0.1725640708452247
+                ]
+            ],
+            [
+                [
+                    0.1725640708452247
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.44461175752000076
+                ]
+            ],
+            [
+                [
+                    0.44461175752000076
+                ]
+            ],
+            [
+                [
+                    0.44461175752000076
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.8077836708461283
+                ]
+            ],
+            [
+                [
+                    0.8077836708461283
+                ]
+            ],
+            [
+                [
+                    0.8077836708461283
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9924039172455443
+                ]
+            ],
+            [
+                [
+                    0.9924039172455443
+                ]
+            ],
+            [
+                [
+                    0.9924039172455443
+                ]
+            ]
+        ]
+    },
+    "observation.images.tactile_deform": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    0.8549019607843137
+                ]
+            ],
+            [
+                [
+                    0.8549019607843137
+                ]
+            ],
+            [
+                [
+                    0.8549019607843137
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.001711805014987777
+                ]
+            ],
+            [
+                [
+                    0.001711805014987777
+                ]
+            ],
+            [
+                [
+                    0.001711805014987777
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0027551693384063386
+                ]
+            ],
+            [
+                [
+                    0.0027551693384063386
+                ]
+            ],
+            [
+                [
+                    0.0027551693384063386
+                ]
+            ]
+        ],
+        "count": [
+            600993000
+        ],
+        "q01": [
+            [
+                [
+                    -6.380646500629693e-11
+                ]
+            ],
+            [
+                [
+                    -6.380646500629693e-11
+                ]
+            ],
+            [
+                [
+                    -6.380646500629693e-11
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    -6.380646500629693e-11
+                ]
+            ],
+            [
+                [
+                    -6.380646500629693e-11
+                ]
+            ],
+            [
+                [
+                    -6.380646500629693e-11
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    -6.380646500629693e-11
+                ]
+            ],
+            [
+                [
+                    -6.380646500629693e-11
+                ]
+            ],
+            [
+                [
+                    -6.380646500629693e-11
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    -6.380646500629693e-11
+                ]
+            ],
+            [
+                [
+                    -6.380646500629693e-11
+                ]
+            ],
+            [
+                [
+                    -6.380646500629693e-11
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.0015667738610933516
+                ]
+            ],
+            [
+                [
+                    0.0015667738610933516
+                ]
+            ],
+            [
+                [
+                    0.0015667738610933516
+                ]
+            ]
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            66776
+        ],
+        "mean": [
+            33388.0
+        ],
+        "std": [
+            19276.859460676336
+        ],
+        "count": [
+            66777
+        ],
+        "q01": [
+            32488.144100828384
+        ],
+        "q10": [
+            32653.45370118207
+        ],
+        "q50": [
+            33387.86117756113
+        ],
+        "q90": [
+            34122.48418075334
+        ],
+        "q99": [
+            34287.85589917161
+        ]
+    },
+    "observation.state.joint_torque": {
+        "min": [
+            -57.298500061035156,
+            -14.905500411987305,
+            -27.621999740600586,
+            -18.29199981689453,
+            -1.7200000286102295,
+            -6.379199981689453,
+            -6.519999980926514,
+            -1.8377001285552979,
+            -1.1308923959732056,
+            -0.9494147896766663,
+            -0.6151313185691833,
+            -0.38351914286613464,
+            -1.5130751132965088,
+            -1.026626706123352,
+            -0.3436730206012726,
+            -0.03567514568567276,
+            -2.1434431076049805,
+            -0.3770694434642792,
+            -0.5744485855102539,
+            -0.06136125698685646,
+            -1.6675487756729126,
+            -2.1367268562316895,
+            -0.6358780860900879,
+            -0.06920978426933289,
+            -0.17372143268585205,
+            -1.2377088069915771,
+            -1.1196948289871216,
+            -0.6010127067565918,
+            -0.12557652592658997,
+            -11.633999824523926,
+            -25.273500442504883,
+            -20.059999465942383,
+            -16.52400016784668,
+            -5.6184000968933105,
+            -9.657600402832031,
+            -4.499199867248535,
+            -2.299990653991699,
+            -1.2060304880142212,
+            -1.487499475479126,
+            -2.7699549198150635,
+            -0.28722429275512695,
+            -1.520750880241394,
+            -1.2060465812683105,
+            -1.0575830936431885,
+            -0.2169049084186554,
+            -1.3605202436447144,
+            -1.0765188932418823,
+            -1.0592433214187622,
+            -0.21333740651607513,
+            -1.50252103805542,
+            -1.331736445426941,
+            -0.7537562847137451,
+            -0.16410566866397858,
+            -0.490378201007843,
+            -1.7519817352294922,
+            -0.893261194229126,
+            -0.8400895595550537,
+            -0.15411663055419922,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "max": [
+            -3.558000087738037,
+            27.378000259399414,
+            4.025000095367432,
+            19.319000244140625,
+            3.0655999183654785,
+            4.081600189208984,
+            4.588799953460693,
+            2.940574884414673,
+            4.815207481384277,
+            2.77119779586792,
+            1.6279232501983643,
+            1.0144164562225342,
+            2.1501595973968506,
+            0.720557689666748,
+            1.0609036684036255,
+            0.21333740651607513,
+            1.6790624856948853,
+            2.142483711242676,
+            1.054262638092041,
+            0.05708024278283119,
+            1.7251167297363281,
+            1.070762038230896,
+            0.5445640087127686,
+            0.05279921740293503,
+            0.43804189562797546,
+            0.8961396217346191,
+            0.499880850315094,
+            0.35861530900001526,
+            0.07705831527709961,
+            60.6150016784668,
+            23.832000732421875,
+            24.413000106811523,
+            9.638999938964844,
+            2.6591999530792236,
+            5.404799938201904,
+            8.735199928283691,
+            4.616537570953369,
+            4.76554012298584,
+            2.7774112224578857,
+            2.3374991416931152,
+            1.0575830936431885,
+            2.1568756103515625,
+            2.152078151702881,
+            1.0758458375930786,
+            0.21476440131664276,
+            1.551453709602356,
+            1.4401558637619019,
+            1.0625640153884888,
+            0.21333740651607513,
+            1.7260761260986328,
+            0.6476383805274963,
+            0.7587370276451111,
+            0.15697064995765686,
+            0.14645375311374664,
+            1.9716989994049072,
+            0.7138413786888123,
+            0.7205511331558228,
+            0.17552173137664795,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "mean": [
+            -27.95379815727938,
+            4.478942958814164,
+            -12.033148242933244,
+            -2.250042283158508,
+            0.20362796769947922,
+            0.15707691311237892,
+            2.0222922725022836,
+            0.031564822069089324,
+            0.012692731190289023,
+            0.05013131127170212,
+            0.003492556149881994,
+            0.003205071389313129,
+            0.0639849033000345,
+            0.0010300803691837895,
+            0.014191599622846805,
+            0.0030990930764607147,
+            0.04355091439682062,
+            -0.0075087761135663724,
+            0.003510020637518162,
+            -0.00042670002176530686,
+            0.02335965033220854,
+            0.03529127646781368,
+            0.008006034128287518,
+            0.0008762444494336583,
+            0.0005909444496174901,
+            0.04715867522438805,
+            -0.00036958951407020175,
+            0.007010979901399232,
+            -4.084780053363796e-06,
+            22.98754826706282,
+            1.687841000688197,
+            10.289159410459746,
+            -4.690262523203656,
+            -0.5064720297214279,
+            0.9661303034086087,
+            -1.000664077354309,
+            0.07233192788504846,
+            0.5503176139578343,
+            0.2797726889340887,
+            0.18499318675278514,
+            0.03213579873383317,
+            0.5837537487650956,
+            -0.00813073726191617,
+            0.2815775108639188,
+            0.0569349472620499,
+            0.004898053829679099,
+            -0.016180085307919926,
+            1.1784204786829526e-05,
+            0.0014561970241553643,
+            0.004966776344152173,
+            -0.023182499653673697,
+            0.00012344309914068957,
+            0.00020818332423750048,
+            0.00021443281199753252,
+            0.01601104472266997,
+            -0.020147284612555317,
+            0.00048241219845317093,
+            0.0016194317179623811,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "std": [
+            1.994698228260079,
+            1.340534441362876,
+            1.0104486176336975,
+            1.2028878924307678,
+            0.32067783400631056,
+            0.5292073610472984,
+            0.33473553066144746,
+            0.20279089239066453,
+            0.3141221529083542,
+            0.18549127479755137,
+            0.0963078406057446,
+            0.037753930973423167,
+            0.20809231221021787,
+            0.053867172694032524,
+            0.09554417872968166,
+            0.020649058206113943,
+            0.10620694256908078,
+            0.14967324825404996,
+            0.01652943514260406,
+            0.0065559846737785745,
+            0.14687295605926776,
+            0.1941495458474151,
+            0.024980025317874757,
+            0.006676934971079111,
+            0.012819741929691297,
+            0.10607265126095121,
+            0.0812982639533961,
+            0.024634865187120304,
+            0.011097902875789063,
+            4.3315230070846065,
+            2.7117466472869447,
+            2.7323543589234798,
+            1.7689534157820461,
+            0.3887348526682365,
+            1.0473483560462202,
+            0.9655104575403228,
+            0.6051865460255607,
+            0.9155686867172835,
+            0.4777762490300398,
+            0.46127446581694803,
+            0.1024015735259685,
+            0.848623485113317,
+            0.30613034141713313,
+            0.4209836785290673,
+            0.09846533468315542,
+            0.07208809312806885,
+            0.08533564332733733,
+            0.03065506440242575,
+            0.010818567398215012,
+            0.07106955970497639,
+            0.08656453709419241,
+            0.015417820720830847,
+            0.010625432944330764,
+            0.01752901192475647,
+            0.07293856226336018,
+            0.09296997074974976,
+            0.022588202711294896,
+            0.006125483005009517,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "count": [
+            66777
+        ],
+        "q01": [
+            -31.373604480041415,
+            1.035901723221838,
+            -14.51087000164251,
+            -5.236792426059327,
+            -0.18362343743359805,
+            -0.6200031336334196,
+            1.4127178228255275,
+            -0.44471092941749363,
+            -0.353406408561312,
+            -0.16332057483730708,
+            -0.19316414977982904,
+            -0.04098887255903912,
+            -0.14871981424453456,
+            -0.17299767034442026,
+            -0.04241425142974522,
+            -0.018331890258325705,
+            -0.18497965662266516,
+            -0.17908562888978355,
+            -0.03225617283785264,
+            -0.024525542653131397,
+            -0.319754860132848,
+            -0.46444370737251484,
+            -0.053980262131435156,
+            -0.02430758207447942,
+            -0.01281480370379251,
+            -0.22740592227170517,
+            -0.2643653047621827,
+            -0.043687578216060445,
+            -0.03180905812126927,
+            8.249378637392558,
+            -4.219832882704966,
+            -1.4264470766073993,
+            -7.585264702422875,
+            -1.6229222003813282,
+            -3.043679520250739,
+            -2.612430275393433,
+            -1.3116633809150073,
+            -0.4681205279002884,
+            -0.2992874181843935,
+            -0.6286552247366847,
+            -0.08014211729044857,
+            -0.3654859605972222,
+            -0.7392181462204349,
+            -0.17559309343345664,
+            -0.13804065807490642,
+            -0.20068155280416156,
+            -0.2425717856395092,
+            -0.05438690008701334,
+            -0.020193324983851152,
+            -0.18087235722717762,
+            -0.24397879868028707,
+            -0.03871357174503138,
+            -0.032986180549613164,
+            -0.06404242055857776,
+            -0.17270112274205954,
+            -0.2849636018490928,
+            -0.0702406687704949,
+            -0.013793173535458574,
+            3.999578446212128e-16,
+            3.999578446212128e-16,
+            3.999578446212128e-16,
+            3.999578446212128e-16,
+            3.999578446212128e-16,
+            3.999578446212128e-16,
+            3.999578446212128e-16
+        ],
+        "q10": [
+            -29.231249882099302,
+            3.4577724785352757,
+            -12.565443447517639,
+            -2.973656991034475,
+            -0.034098635357044854,
+            -0.25308356554542166,
+            1.7249103366660214,
+            -0.03729669892065143,
+            -0.09013372344609288,
+            -0.018241483062464224,
+            -0.05652121856755495,
+            -3.191482592528651e-05,
+            -0.0054505496219834654,
+            -0.0434298562727076,
+            -0.003400679037988461,
+            -0.0020010564868752777,
+            -0.022320533269154817,
+            -0.07842337414219543,
+            -0.002525253871811593,
+            -0.0059303475417561285,
+            -0.0806014367572086,
+            -0.09219394446277276,
+            -0.0077668728532501365,
+            -0.003973065801312903,
+            -0.0004988905586929145,
+            -0.022609849474736685,
+            -0.06887587343264259,
+            -0.0025955592790894285,
+            -0.012893917495982381,
+            18.680851357865887,
+            -1.7010681362563553,
+            7.951000518124648,
+            -6.493428832344476,
+            -0.8627240992915542,
+            -0.23676506943648934,
+            -1.8221156598660209,
+            -0.5045556035082975,
+            -0.1761001540542547,
+            -0.12351828480313935,
+            -0.1748943808633143,
+            -0.03299585060406107,
+            -0.14013803688494775,
+            -0.25849381352841555,
+            -0.02688326226403125,
+            -0.031760444963462565,
+            -0.03242906970712007,
+            -0.1046194999937214,
+            -0.0007294034230409082,
+            -0.007658684186108629,
+            -0.03506757675828695,
+            -0.11333466070483537,
+            -3.77332073292333e-05,
+            -0.007495967028660703,
+            -0.001434400479373055,
+            -0.0188834259972477,
+            -0.1378598994010058,
+            -0.0001453969939186754,
+            -1.0700824247026546e-05,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15
+        ],
+        "q50": [
+            -27.86657943245013,
+            4.513490360433092,
+            -11.995722602156206,
+            -2.217367596380918,
+            0.15682523891973912,
+            0.1036965821801727,
+            1.9959544276862242,
+            0.008024527764810692,
+            -0.001530744983214975,
+            0.021375595820611663,
+            -0.0005322882338452584,
+            -2.825508180457441e-07,
+            0.03713067611452921,
+            0.0012761613518209945,
+            0.0013252426089656543,
+            0.0005936899273093434,
+            0.03445305407677165,
+            -0.016958712639670786,
+            0.0006097785345947144,
+            1.9286767180431407e-05,
+            0.016559456038641264,
+            0.03643479775837517,
+            0.0032494648374710275,
+            0.00037057910541069596,
+            -2.95607355189116e-07,
+            0.032371852621233384,
+            0.0018543963698895228,
+            0.0018792815278525033,
+            0.0010070080766312077,
+            23.295546162852123,
+            1.8823515088212432,
+            10.806245797968298,
+            -4.882824704551391,
+            -0.5053066160555867,
+            1.1059091419126512,
+            -1.0935921081998887,
+            0.00637617328343428,
+            0.1642282255320568,
+            0.10480700583112348,
+            0.06051062866661747,
+            0.0034617877592969517,
+            0.15347372918492927,
+            -0.009261977063928254,
+            0.027828659691111014,
+            0.014368489871472484,
+            0.0028528201910579987,
+            -0.008169839901658397,
+            7.662952022678477e-06,
+            -0.0003108645814567297,
+            0.0016947970111693223,
+            -0.009806035152014551,
+            1.1170960137777843e-05,
+            -0.0008490778069745005,
+            4.185682187040153e-06,
+            0.005057322881275492,
+            -0.005126367419265416,
+            1.6334542945586805e-05,
+            0.00023383367983046777,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14
+        ],
+        "q90": [
+            -26.825705593436332,
+            5.468599594078248,
+            -11.439388518401703,
+            -1.4395770601778441,
+            0.455355241774939,
+            0.6384243015036946,
+            2.380133206634505,
+            0.1439483682698965,
+            0.16327966112875514,
+            0.14500238463980994,
+            0.05073069152748738,
+            0.010167883751329133,
+            0.19305968661958584,
+            0.04712222606208314,
+            0.0476919599182971,
+            0.016039641709433724,
+            0.13043299078332884,
+            0.08316749674600417,
+            0.015724676117042643,
+            0.005503972166704074,
+            0.16078487604523037,
+            0.1822938063967714,
+            0.03228074549843142,
+            0.008242111019045192,
+            0.0020406145118394402,
+            0.15838231994117896,
+            0.07067849483872143,
+            0.027827329475676513,
+            0.011247987781199054,
+            26.966636841687812,
+            4.5743765225023845,
+            12.169065421000399,
+            -2.780305494903966,
+            -0.10561799637145389,
+            1.91498623921417,
+            -0.1402850845316239,
+            0.7947298005815735,
+            1.9400709106122893,
+            1.0378077988487309,
+            0.8793549233674883,
+            0.14364432818467174,
+            2.0080493121501317,
+            0.18175861220911152,
+            0.9827581450079337,
+            0.21060622515176305,
+            0.0485104049320526,
+            0.06923308984280054,
+            0.0029805710040399034,
+            0.013493968792520045,
+            0.05792037781513364,
+            0.05198759366410582,
+            0.00036122083214114434,
+            0.011296730277814901,
+            0.0024677121383609307,
+            0.07832370362471365,
+            0.07417695252257861,
+            0.0022455712254490063,
+            0.007124698547564356,
+            3.5996206015909134e-14,
+            3.5996206015909134e-14,
+            3.5996206015909134e-14,
+            3.5996206015909134e-14,
+            3.5996206015909134e-14,
+            3.5996206015909134e-14,
+            3.5996206015909134e-14
+        ],
+        "q99": [
+            -24.945003413508534,
+            7.478917650201384,
+            -10.616819396585363,
+            -0.5561965332289459,
+            1.3526268720179286,
+            1.1227363403149955,
+            2.6655644705067525,
+            0.555292364220318,
+            0.5855441886471291,
+            0.4997793477412634,
+            0.36477033202669895,
+            0.08455525015219222,
+            0.44220736814977674,
+            0.14819856409651075,
+            0.16929585577601125,
+            0.03422647594750536,
+            0.2802968323276141,
+            0.2659078032367235,
+            0.045883170971598955,
+            0.012869626222833271,
+            0.3088459254479919,
+            0.3976704487482683,
+            0.08899605267120195,
+            0.014093506438737295,
+            0.0244285308983914,
+            0.3185204028287593,
+            0.1821447412976628,
+            0.07607530234931399,
+            0.019422331929887196,
+            31.772450685578644,
+            7.425978399081906,
+            14.51254008663199,
+            0.7065026816451749,
+            0.24351667485359657,
+            2.2574119068639154,
+            2.9151540703241303,
+            2.050347901637398,
+            3.2808481506843106,
+            1.6807560312936294,
+            1.5681867012409263,
+            0.39874168385597364,
+            2.1399050927984575,
+            1.236232635494712,
+            1.0527893202883216,
+            0.21335588535044536,
+            0.18340829473420248,
+            0.187834889400252,
+            0.03622425842723486,
+            0.018276102723010456,
+            0.16864032892646222,
+            0.14207092588267473,
+            0.030180746203437487,
+            0.017670239166290957,
+            0.05760382724354942,
+            0.21375400064455327,
+            0.20190478851097474,
+            0.05688812641562707,
+            0.014250409195027349,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14
+        ]
+    },
+    "subtask_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            1212
+        ],
+        "mean": [
+            608.5216316995371
+        ],
+        "std": [
+            352.65323322456504
+        ],
+        "count": [
+            66777
+        ],
+        "q01": [
+            495.1120004818179
+        ],
+        "q10": [
+            598.8121072427729
+        ],
+        "q50": [
+            611.1533330518502
+        ],
+        "q90": [
+            623.3612021626465
+        ],
+        "q99": [
+            626.7016799317819
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            39
+        ],
+        "mean": [
+            19.524432064932537
+        ],
+        "std": [
+            11.539783581369385
+        ],
+        "count": [
+            66777
+        ],
+        "q01": [
+            19.524432064932537
+        ],
+        "q10": [
+            19.524432064932537
+        ],
+        "q50": [
+            19.52443206493255
+        ],
+        "q90": [
+            19.524432064932576
+        ],
+        "q99": [
+            19.524432064932576
+        ]
+    },
+    "observation.state": {
+        "min": [
+            0.9437714219093323,
+            -0.9055574536323547,
+            -0.2526237368583679,
+            0.8677554130554199,
+            -1.9862791299819946,
+            -0.7700522541999817,
+            -0.23587901890277863,
+            0.00612729974091053,
+            -0.28423190116882324,
+            -0.28822076320648193,
+            -0.3418101370334625,
+            0.0030471133068203926,
+            -0.16870085895061493,
+            -0.12882207334041595,
+            0.0033325364347547293,
+            0.0008229928789660335,
+            -0.17663554847240448,
+            -0.06871054321527481,
+            0.003420113353058696,
+            0.0007742163725197315,
+            -0.1744164228439331,
+            -0.039362624287605286,
+            0.0026439751964062452,
+            0.0007640176918357611,
+            0.004478337708860636,
+            -0.14772403240203857,
+            -0.040497444570064545,
+            0.0024464838206768036,
+            0.0008252100087702274,
+            0.8825505375862122,
+            -1.01602303981781,
+            -0.23337839543819427,
+            0.718889594078064,
+            -1.8054460287094116,
+            -0.9381743669509888,
+            -0.6981406807899475,
+            0.006233176216483116,
+            -0.3181655704975128,
+            0.003038227092474699,
+            -0.3157132863998413,
+            0.003088951576501131,
+            0.004919040482491255,
+            -0.22344787418842316,
+            -0.004717813339084387,
+            -0.002380737569183111,
+            -0.0032847565598785877,
+            -0.10404511541128159,
+            0.0020100169349461794,
+            0.0004868783289566636,
+            -0.002827245509251952,
+            -0.036853060126304626,
+            0.00024500294239260256,
+            0.0008194454712793231,
+            0.00042278761975467205,
+            -0.07376573234796524,
+            -0.03896791487932205,
+            0.0034534423612058163,
+            0.0008469377062283456,
+            0.5598071217536926,
+            -1.1073423624038696,
+            0.5408241152763367,
+            -0.05531918257474899,
+            -0.08398544788360596,
+            -0.06097573786973953,
+            -0.8729309439659119
+        ],
+        "max": [
+            1.2839844226837158,
+            -0.47154343128204346,
+            1.3542173292080406e-05,
+            1.570016860961914,
+            0.033495187759399414,
+            0.3781201243400574,
+            0.6982142329216003,
+            1.3420801162719727,
+            0.07001934200525284,
+            0.525885820388794,
+            0.31485456228256226,
+            0.49142059683799744,
+            1.1158403158187866,
+            0.23656851053237915,
+            1.0325055122375488,
+            0.604356586933136,
+            1.4732729196548462,
+            0.26101377606391907,
+            1.6535617113113403,
+            0.8455600142478943,
+            1.4701827764511108,
+            0.20141449570655823,
+            1.6532667875289917,
+            0.8224447965621948,
+            0.13902755081653595,
+            1.4666091203689575,
+            0.18344056606292725,
+            1.6537277698516846,
+            1.3083692789077759,
+            1.3843761682510376,
+            -0.09398534893989563,
+            7.070692390698241e-06,
+            1.7441883087158203,
+            0.9160107970237732,
+            0.27023935317993164,
+            0.6981537342071533,
+            1.5831708908081055,
+            0.005526353605091572,
+            0.9452164769172668,
+            0.31735825538635254,
+            0.5909574031829834,
+            1.1934186220169067,
+            0.2941174805164337,
+            1.0458391904830933,
+            1.2965294122695923,
+            1.474348783493042,
+            0.3141164779663086,
+            1.6556966304779053,
+            1.3082997798919678,
+            1.4751654863357544,
+            0.277126282453537,
+            1.6548711061477661,
+            1.308313012123108,
+            0.10046183317899704,
+            1.4696030616760254,
+            0.3156405985355377,
+            1.6656264066696167,
+            1.3082220554351807,
+            0.5638338327407837,
+            -1.1057125329971313,
+            0.7503083348274231,
+            0.05608617141842842,
+            0.11418569833040237,
+            0.2816772162914276,
+            -0.4716990888118744
+        ],
+        "mean": [
+            1.1606333220206944,
+            -0.7157045796026873,
+            -0.14124631496203197,
+            1.1269882734342394,
+            -0.12492302954781032,
+            -0.18242015749864215,
+            0.49354499079249003,
+            1.0796976970948269,
+            -0.10358456981999997,
+            -0.012805323046140843,
+            0.005806270406554599,
+            0.4678935241141884,
+            0.5374548928404203,
+            0.05976876199414969,
+            0.13179557457703941,
+            0.2892242301878215,
+            0.3536513333094649,
+            0.08843152576751963,
+            0.13779769786980617,
+            0.0626813838070237,
+            0.17097621713509392,
+            0.061366284646044794,
+            0.22341943298107061,
+            0.3523591152267825,
+            0.01857267612783461,
+            0.12554353177317898,
+            -0.0015559433664206518,
+            0.21429069202122675,
+            0.17558306625545048,
+            1.1017998558710493,
+            -0.5800353228654912,
+            -0.2191903274091554,
+            1.3162563750905139,
+            -1.076555145378267,
+            -0.3807180922664822,
+            0.11522265283570318,
+            1.3343059440303,
+            -0.1958878272374364,
+            0.5366095386438048,
+            -0.02245226271725912,
+            0.10224300496883697,
+            0.8769009005067083,
+            0.17806586089533133,
+            0.08100851137636628,
+            0.5243208401777304,
+            1.3777365545925377,
+            0.1796662142054794,
+            1.5361756726659594,
+            1.1381188375419267,
+            1.359574911502525,
+            0.1428773587751376,
+            1.5458088361654794,
+            1.15520482114921,
+            0.06265763901317441,
+            1.368471274704104,
+            0.25473679354206297,
+            1.5636820810914445,
+            1.235448483556604,
+            0.5620304663526168,
+            -1.1068382246652781,
+            0.6651601086207037,
+            -0.01424271953685507,
+            -0.0017608586020119606,
+            0.14726832688131136,
+            -0.858875326286642
+        ],
+        "std": [
+            0.042729705634439,
+            0.07680939153855355,
+            0.023691544244437004,
+            0.15588889057878758,
+            0.2317826739340342,
+            0.1888713337337911,
+            0.14130539566945968,
+            0.1738352702257127,
+            0.10997224801891822,
+            0.2533325148925476,
+            0.28829032867490745,
+            0.06878173471975264,
+            0.25601506692700415,
+            0.05172497637682505,
+            0.09247357551824471,
+            0.06012620787799177,
+            0.3650976068725904,
+            0.045459293534536094,
+            0.31380352025757047,
+            0.14910084552400676,
+            0.3553135974737315,
+            0.05307713414590326,
+            0.3851040795293385,
+            0.11177610859382435,
+            0.027933799621811445,
+            0.33892170323214776,
+            0.04843870858299547,
+            0.45112373423453933,
+            0.36022283363286284,
+            0.063982113575427,
+            0.159279386667659,
+            0.030514262999363172,
+            0.186662259102253,
+            0.37191437395745464,
+            0.18223470882795273,
+            0.19303722038092402,
+            0.1952412516124027,
+            0.059018447145000374,
+            0.17993453268177703,
+            0.1121956538556856,
+            0.11428502958555128,
+            0.20737235840640647,
+            0.07014066216348268,
+            0.10904030608149172,
+            0.2586236843006708,
+            0.32455113529502916,
+            0.05690814530516677,
+            0.41330436602014575,
+            0.3167041411209587,
+            0.34440625453207496,
+            0.05361021690328724,
+            0.4015111086077597,
+            0.3188461957213653,
+            0.01636779022098723,
+            0.36303352001651984,
+            0.07572636320721189,
+            0.35653141065503596,
+            0.28157900946883263,
+            0.0013388406775150092,
+            0.002812647976381044,
+            0.03105098938642644,
+            0.015948143179477712,
+            0.03089679249714887,
+            0.06837587099446761,
+            0.0514554477660881
+        ],
+        "count": [
+            66777
+        ],
+        "q01": [
+            1.0494083053510836,
+            -0.7905669400963343,
+            -0.16146248098606092,
+            1.041252873024826,
+            -0.2790168698420041,
+            -0.7093195512435995,
+            0.3440195825638092,
+            0.06443339003653203,
+            -0.14429223507761316,
+            -0.1385509760063905,
+            -0.14773078497032427,
+            0.022058578159433656,
+            -0.03465061086057877,
+            -0.013649442655961816,
+            0.0034804638844924663,
+            0.011265696698742157,
+            -0.14752676564838624,
+            -0.004341701250948957,
+            0.0034797839645870124,
+            0.0009511068475128641,
+            -0.1280762640874525,
+            -0.023851967671122142,
+            0.00409994051407945,
+            0.013493760005408723,
+            0.009161563720427078,
+            -0.14128768216350376,
+            -0.037711192017921794,
+            0.0035447197550116613,
+            0.0008680804314205129,
+            1.0121940176409894,
+            -0.8195403419287294,
+            -0.2302199197587744,
+            0.9659492201077194,
+            -1.3357861006788732,
+            -0.7319237087295108,
+            -0.2000963121643171,
+            0.0980247400294531,
+            -0.269360283443015,
+            0.020816376311222056,
+            -0.22322188925893072,
+            0.003448950220857325,
+            0.020636877053337176,
+            -0.1107731777034469,
+            0.0029187913684316238,
+            0.0007295499588023829,
+            0.012558711005876123,
+            -0.02879280941144277,
+            0.002619879597535847,
+            0.0008707640374779549,
+            -0.0004684316455112609,
+            -0.028388007684129007,
+            0.003443366182043189,
+            0.0008563655108144221,
+            0.0059036536629708085,
+            -0.05558064292102166,
+            -0.03443968917960936,
+            0.019587420004293685,
+            0.01355036016165441,
+            0.5618274206458999,
+            -1.106983097946641,
+            0.5563930934160861,
+            -0.026499098577344074,
+            -0.035682762608354186,
+            0.008217931730665326,
+            -0.8728414293547687
+        ],
+        "q10": [
+            1.1409568792107,
+            -0.7300903369282722,
+            -0.15155362688765414,
+            1.074824078597076,
+            -0.19109467263582453,
+            -0.34100263346306176,
+            0.38907167543827426,
+            1.0738600867391288,
+            -0.12339031572106453,
+            -0.08646754706156376,
+            -0.00482836119701841,
+            0.47951996029901334,
+            0.24038071428035396,
+            0.026608302405795283,
+            0.049209249755245384,
+            0.28523479142945296,
+            0.08049654887973441,
+            0.060602995052804934,
+            0.019516355603329715,
+            0.015708212601168847,
+            0.011777847276175993,
+            0.014704346751967926,
+            0.026829561754451732,
+            0.32601549140942854,
+            0.009513772575363262,
+            -0.05092070520140245,
+            -0.031288501986045734,
+            0.009607072176825762,
+            0.0067655503805068885,
+            1.038774661785802,
+            -0.7337417475422324,
+            -0.22924607387332027,
+            1.0887908620999684,
+            -1.265487338495243,
+            -0.563874260734067,
+            -0.08656609183781275,
+            1.3050770489989583,
+            -0.24423032715042703,
+            0.3003626309623529,
+            -0.14379476130884794,
+            0.0037003874165615746,
+            0.7002782193651168,
+            0.12275458323425868,
+            0.008758270516376131,
+            0.0716020130011583,
+            1.4124539397336686,
+            0.14961107675091548,
+            1.5156410381541199,
+            1.0602615862263796,
+            1.3786083131062004,
+            0.11306482709707755,
+            1.5811627139854458,
+            1.0931110188476252,
+            0.05872555745515607,
+            1.4176109444452416,
+            0.23170167883401901,
+            1.6352620264703637,
+            1.2922634303094178,
+            0.56193922797594,
+            -1.10688594449074,
+            0.6479300644155016,
+            -0.02207279633182711,
+            -0.010796667460267502,
+            0.11187843852660166,
+            -0.8728195983264541
+        ],
+        "q50": [
+            1.161298171394099,
+            -0.7193525597022643,
+            -0.14401729591039966,
+            1.1228569305532585,
+            -0.12088255204568521,
+            -0.16354790647736486,
+            0.47410202954866415,
+            1.1043568171056375,
+            -0.10689699687470693,
+            -0.018601962627936477,
+            0.003037585006243748,
+            0.4797208042258167,
+            0.6117318983367855,
+            0.06363041826934795,
+            0.13822735104036213,
+            0.2954389048171222,
+            0.41183320654697625,
+            0.09157367826347945,
+            0.1471693684992111,
+            0.07494720958178859,
+            0.20014635746432388,
+            0.06362608063643066,
+            0.2523017640666613,
+            0.3698935094244941,
+            0.02110913250577419,
+            0.1479294095395569,
+            -0.0013187481438755168,
+            0.2283073100019549,
+            0.18480295561023788,
+            1.0978523935107751,
+            -0.6085510607796984,
+            -0.2260876888379316,
+            1.34688408942255,
+            -1.168744424971455,
+            -0.3951761676696976,
+            0.097241626063058,
+            1.3617788036201925,
+            -0.20262510701440412,
+            0.5582073200840529,
+            -0.03012134642803239,
+            0.06710405441590582,
+            0.9245669805225544,
+            0.19299011470780308,
+            0.055936051532039587,
+            0.5914029643993386,
+            1.465865256397174,
+            0.1882753040294847,
+            1.6553471324996818,
+            1.2257034597800736,
+            1.4517439099544929,
+            0.14762218667106386,
+            1.6546599950083092,
+            1.2422968030768355,
+            0.06736798656561718,
+            1.4654221460930568,
+            0.2713174668606325,
+            1.6551869086269595,
+            1.307353121684264,
+            0.5620169672321124,
+            -1.1068432941160185,
+            0.668789052248515,
+            -0.014608938416982464,
+            -0.002174335371954779,
+            0.1551006674154748,
+            -0.8727286320427317
+        ],
+        "q90": [
+            1.188212883114651,
+            -0.6977799605266614,
+            -0.13627195263319283,
+            1.1538074829005072,
+            -0.0713171459541494,
+            -0.032909831482587235,
+            0.63865021871242,
+            1.1372653177687997,
+            -0.0875756810127916,
+            0.06439220122599473,
+            0.031168325245146362,
+            0.47995880472634067,
+            0.7239080694575228,
+            0.08667793670231161,
+            0.2050452631572943,
+            0.30808484012936344,
+            0.5195491881354701,
+            0.11228485605198586,
+            0.2599504922643419,
+            0.09599662173904942,
+            0.27223738038976175,
+            0.10166404030701848,
+            0.33579900894730513,
+            0.3824078732741292,
+            0.022673364969526925,
+            0.24789884210501567,
+            0.02500081076520177,
+            0.3661406837177844,
+            0.3031040121013851,
+            1.1568421571817995,
+            -0.3636619860115422,
+            -0.2144522493773719,
+            1.4974469623698474,
+            -0.8351983435476155,
+            -0.1653148066951649,
+            0.3494541941167587,
+            1.4209345060820213,
+            -0.14308331793323556,
+            0.7388359999014291,
+            0.09859687097124577,
+            0.25782827844316725,
+            1.0341932918634682,
+            0.23365747243494406,
+            0.1730937506967066,
+            0.7838799645712834,
+            1.4676308689608402,
+            0.2241063842434149,
+            1.655638899793777,
+            1.272186598952374,
+            1.464035754853018,
+            0.18789200599917705,
+            1.6548033155311361,
+            1.2895425095526118,
+            0.0680494738586869,
+            1.4676010921824973,
+            0.29836806316126285,
+            1.6553535621952455,
+            1.3078374125067258,
+            0.5620985785873704,
+            -1.1068257086384674,
+            0.6823557171180813,
+            -0.006395542760041718,
+            0.010722403356970256,
+            0.17743972613527187,
+            -0.8514632000627765
+        ],
+        "q99": [
+            1.2076913731926917,
+            -0.6087811300882737,
+            -0.01739326230186482,
+            1.5168781652232337,
+            -0.0058820749762350105,
+            0.0016206007948316998,
+            0.6888373036156425,
+            1.1493989642605051,
+            0.011255056748932847,
+            0.20520165290201384,
+            0.15443618903434198,
+            0.4799732694301621,
+            0.7449342716500944,
+            0.09676892071443344,
+            0.2442830054967685,
+            0.3096378520808007,
+            0.5586357073454311,
+            0.12372858581288394,
+            0.27567830470291566,
+            0.10748903769378543,
+            0.2900044350477551,
+            0.11602069366651174,
+            0.3790020515099731,
+            0.3865292838057271,
+            0.02397836784047107,
+            0.28409260240432493,
+            0.039958841777173584,
+            0.41180625595227727,
+            0.34278866792521684,
+            1.290099232024475,
+            -0.26469561332672215,
+            -0.03475177966027348,
+            1.5887057661098143,
+            0.25296516179128803,
+            -0.02279515440033189,
+            0.5430429314677968,
+            1.5076787741222348,
+            -0.010563216453952121,
+            0.7898315917179758,
+            0.3141318197145784,
+            0.3887993950664054,
+            1.0796296336080966,
+            0.2560569025731447,
+            0.4762711525735761,
+            0.9244223934689901,
+            1.4688447705046848,
+            0.25451701088715506,
+            1.6556738561720006,
+            1.2980571842570165,
+            1.4680626605676363,
+            0.218367659978617,
+            1.6548355626487723,
+            1.300693518382144,
+            0.0687170051185793,
+            1.4683299578974023,
+            0.31012597871487435,
+            1.6555113880349384,
+            1.3081456391112636,
+            0.5626697742656585,
+            -1.1065533968051968,
+            0.6905414961645516,
+            0.007288175759762751,
+            0.020803213200416504,
+            0.18408376353640538,
+            -0.5914593452771597
+        ]
+    },
+    "observation.images.wrist_right": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.19199104810811998
+                ]
+            ],
+            [
+                [
+                    0.1925924188459827
+                ]
+            ],
+            [
+                [
+                    0.19213903519317083
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.006344943095981702
+                ]
+            ],
+            [
+                [
+                    0.006493712834878124
+                ]
+            ],
+            [
+                [
+                    0.006694074874374943
+                ]
+            ]
+        ],
+        "count": [
+            1709491200
+        ],
+        "q01": [
+            [
+                [
+                    0.007952095836804235
+                ]
+            ],
+            [
+                [
+                    0.00814353412649276
+                ]
+            ],
+            [
+                [
+                    0.007942745470332092
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.06733895897007028
+                ]
+            ],
+            [
+                [
+                    0.06835614249140562
+                ]
+            ],
+            [
+                [
+                    0.06754310341991707
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.15877910913752982
+                ]
+            ],
+            [
+                [
+                    0.15869684417183824
+                ]
+            ],
+            [
+                [
+                    0.1579109252448329
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.3670273059820044
+                ]
+            ],
+            [
+                [
+                    0.3677228926631284
+                ]
+            ],
+            [
+                [
+                    0.368187599308384
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.6177695183494721
+                ]
+            ],
+            [
+                [
+                    0.6236969830830964
+                ]
+            ],
+            [
+                [
+                    0.6518108987897262
+                ]
+            ]
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            3339
+        ],
+        "mean": [
+            917.7046737649191
+        ],
+        "std": [
+            632.2638473851197
+        ],
+        "count": [
+            66777
+        ],
+        "q01": [
+            17.848774593309848
+        ],
+        "q10": [
+            183.15837494698258
+        ],
+        "q50": [
+            917.5254755020443
+        ],
+        "q90": [
+            1652.1888545182528
+        ],
+        "q99": [
+            1817.5605729365286
+        ]
+    },
+    "observation.state.tcp": {
+        "min": [
+            0.3378494679927826,
+            0.06674107909202576,
+            0.8905200958251953,
+            -1.3694757223129272,
+            1.1518625020980835,
+            -1.7520662546157837,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.24040693044662476,
+            -0.29014822840690613,
+            0.8811264634132385,
+            -2.301933765411377,
+            -2.79691219329834,
+            -1.798527479171753,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "max": [
+            0.5022906064987183,
+            0.34919142723083496,
+            1.0518418550491333,
+            0.851762056350708,
+            2.351612091064453,
+            -0.2581244111061096,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.5234955549240112,
+            0.05965886637568474,
+            1.0574142932891846,
+            2.2931013107299805,
+            2.7856130599975586,
+            1.7978566884994507,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "mean": [
+            0.44782049466068824,
+            0.2622421034539448,
+            0.9641522027646184,
+            -1.0686504169924806,
+            1.5181358347153024,
+            -1.3350243567599225,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.3710225228493748,
+            -0.12391319270468391,
+            0.9306795446951295,
+            0.04174626862074135,
+            1.8996303427820462,
+            0.9514564701624204,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "std": [
+            0.02984136774852735,
+            0.029317661771583157,
+            0.02726852019338848,
+            0.23957752145228906,
+            0.18260568410304215,
+            0.1596180197125196,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.041339786249675846,
+            0.06175999227851465,
+            0.03001939309717027,
+            0.41346514432034015,
+            0.4092459770553526,
+            0.32620001512066205,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "count": [
+            66777
+        ],
+        "q01": [
+            0.3716632970899564,
+            0.18818266286079022,
+            0.9383489353769406,
+            -1.2293943206980225,
+            1.2124249470454658,
+            -1.469038984095905,
+            3.999578446212128e-16,
+            3.999578446212128e-16,
+            3.999578446212128e-16,
+            3.999578446212128e-16,
+            3.999578446212128e-16,
+            3.999578446212128e-16,
+            0.3133107266644354,
+            -0.23209264184581138,
+            0.8988387125185888,
+            -0.5256942363530674,
+            0.8575082328829953,
+            0.35153231190234,
+            3.999578446212128e-16,
+            3.999578446212128e-16,
+            3.999578446212128e-16,
+            3.999578446212128e-16,
+            3.999578446212128e-16,
+            3.999578446212128e-16
+        ],
+        "q10": [
+            0.43963116473067937,
+            0.2500420442259134,
+            0.9443591869039221,
+            -1.1781387967612411,
+            1.3242494525279476,
+            -1.425939501094941,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            0.3281760647847493,
+            -0.19799070343022182,
+            0.9069340553662261,
+            -0.3055904444650358,
+            1.6098443430832736,
+            0.6888961017942726,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15
+        ],
+        "q50": [
+            0.4487621412705768,
+            0.2650093058795703,
+            0.9601714383837109,
+            -1.094002178115822,
+            1.5406831118269784,
+            -1.3362045044542281,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            0.3672032293011376,
+            -0.12386755362466503,
+            0.9227030369556295,
+            0.012215321621247475,
+            1.967040489198594,
+            0.9573757417262563,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14
+        ],
+        "q90": [
+            0.4608604141567769,
+            0.27827724449726987,
+            0.9879476631959166,
+            -0.9078501555330413,
+            1.6717170170436635,
+            -1.2583725123442089,
+            3.5996206015909134e-14,
+            3.5996206015909134e-14,
+            3.5996206015909134e-14,
+            3.5996206015909134e-14,
+            3.5996206015909134e-14,
+            3.5996206015909134e-14,
+            0.4153737986770625,
+            -0.047004107060543934,
+            0.9631517364214303,
+            0.2945684686660434,
+            2.1078668395583042,
+            1.2144612334866511,
+            3.5996206015909134e-14,
+            3.5996206015909134e-14,
+            3.5996206015909134e-14,
+            3.5996206015909134e-14,
+            3.5996206015909134e-14,
+            3.5996206015909134e-14
+        ],
+        "q99": [
+            0.4713247578637423,
+            0.28563403003770105,
+            1.0410534895710855,
+            -0.7348605994818007,
+            1.7157553336946942,
+            -1.1371489956531646,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            0.48241934226053035,
+            -0.007173547957957465,
+            1.0433273686314521,
+            1.3608387475735575,
+            2.222760899093547,
+            1.4375838692135294,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14
+        ]
+    },
+    "action.tcp_pose": {
+        "min": [
+            0.33804234862327576,
+            0.06669329851865768,
+            0.8906220197677612,
+            -1.3689920902252197,
+            1.0694130659103394,
+            -1.7522777318954468,
+            0.24044106900691986,
+            -0.2901758849620819,
+            0.8808954358100891,
+            -2.3035976886749268,
+            -2.7903032302856445,
+            -1.7986007928848267
+        ],
+        "max": [
+            0.501800537109375,
+            0.3499593138694763,
+            1.0518032312393188,
+            0.8552170991897583,
+            2.351914644241333,
+            -0.2572396993637085,
+            0.5241154432296753,
+            0.059611402451992035,
+            1.0574344396591187,
+            2.2898571491241455,
+            2.786059617996216,
+            1.8044612407684326
+        ],
+        "mean": [
+            0.44781503286394825,
+            0.2622440779219581,
+            0.9642891297738204,
+            -1.0667294365514925,
+            1.5160271709373074,
+            -1.336151846776885,
+            0.37106459663872454,
+            -0.12398453445235037,
+            0.9307045177006166,
+            0.040987796764084136,
+            1.899323732397678,
+            0.9513336045473865
+        ],
+        "std": [
+            0.029852730416250955,
+            0.02932402005165103,
+            0.027330342354829968,
+            0.24107885254287442,
+            0.18551490578844057,
+            0.15957928309365996,
+            0.04137430423016704,
+            0.061764204981133726,
+            0.030053931120491272,
+            0.41259141281448775,
+            0.40941195364188077,
+            0.3264130676148139
+        ],
+        "count": [
+            66777
+        ],
+        "q01": [
+            0.3713057955195939,
+            0.1886375628426991,
+            0.9390982819508188,
+            -1.2299648776182126,
+            1.1948433517862762,
+            -1.4728512441892392,
+            0.31330535300177353,
+            -0.2319973897435098,
+            0.8988163529689813,
+            -0.5255153124976141,
+            0.859908826786858,
+            0.3510038248856684
+        ],
+        "q10": [
+            0.4396508970254913,
+            0.24997025798278152,
+            0.944457649152756,
+            -1.1775701091835786,
+            1.3156006982237538,
+            -1.4261756731021742,
+            0.32821628455054436,
+            -0.19803598753561572,
+            0.9068961642205872,
+            -0.3056367655698892,
+            1.6089214924295752,
+            0.6887121560581388
+        ],
+        "q50": [
+            0.44877325780198024,
+            0.26500095462932544,
+            0.9601869284064823,
+            -1.0938537410858373,
+            1.5403225725158696,
+            -1.336309126653658,
+            0.367271053484206,
+            -0.1239198124359414,
+            0.9226572397038173,
+            0.012372722264774205,
+            1.9668593303922899,
+            0.9572019950762108
+        ],
+        "q90": [
+            0.46080160010304144,
+            0.27824414172247575,
+            0.988613777991907,
+            -0.9030018806108516,
+            1.6715365971481406,
+            -1.2627179045916725,
+            0.41552425225409145,
+            -0.04709586008320124,
+            0.9635394796573553,
+            0.29277881414495127,
+            2.1074736583016924,
+            1.2138458542313444
+        ],
+        "q99": [
+            0.4710873177102229,
+            0.2856084198313048,
+            1.0406508148729416,
+            -0.7171176993655076,
+            1.7151167720101945,
+            -1.1363959319241392,
+            0.4819057621050438,
+            -0.007100882829666119,
+            1.0424884164224442,
+            1.364493294150422,
+            2.2225307027809866,
+            1.4403076895716054
+        ]
+    },
+    "observation.images.head_right": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.5433953457212141
+                ]
+            ],
+            [
+                [
+                    0.5431875128050947
+                ]
+            ],
+            [
+                [
+                    0.5449809841435767
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0034602438971713737
+                ]
+            ],
+            [
+                [
+                    0.0034177393324709444
+                ]
+            ],
+            [
+                [
+                    0.0034842766220282303
+                ]
+            ]
+        ],
+        "count": [
+            1709491200
+        ],
+        "q01": [
+            [
+                [
+                    0.0928078955576031
+                ]
+            ],
+            [
+                [
+                    0.09159166946371984
+                ]
+            ],
+            [
+                [
+                    0.09457013010254907
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.23249277704905855
+                ]
+            ],
+            [
+                [
+                    0.23219844312372906
+                ]
+            ],
+            [
+                [
+                    0.23335653689179106
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.3635571685951861
+                ]
+            ],
+            [
+                [
+                    0.36287770061720664
+                ]
+            ],
+            [
+                [
+                    0.36215164811538514
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.9539957175606022
+                ]
+            ],
+            [
+                [
+                    0.9534591701828725
+                ]
+            ],
+            [
+                [
+                    0.9637084911607834
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9921900673810286
+                ]
+            ],
+            [
+                [
+                    0.9921905222747216
+                ]
+            ],
+            [
+                [
+                    0.9959924984388342
+                ]
+            ]
+        ]
+    },
+    "observation.images.wrist_left": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.24984610275141703
+                ]
+            ],
+            [
+                [
+                    0.2503547821209759
+                ]
+            ],
+            [
+                [
+                    0.2500446009739911
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.005849141854512394
+                ]
+            ],
+            [
+                [
+                    0.00607636533917412
+                ]
+            ],
+            [
+                [
+                    0.0059406039250756715
+                ]
+            ]
+        ],
+        "count": [
+            1709491200
+        ],
+        "q01": [
+            [
+                [
+                    0.016299418112581326
+                ]
+            ],
+            [
+                [
+                    0.015981927437294978
+                ]
+            ],
+            [
+                [
+                    0.014337153501069956
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.0940858474409151
+                ]
+            ],
+            [
+                [
+                    0.09420969563475035
+                ]
+            ],
+            [
+                [
+                    0.09383431971087483
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.20040069764796012
+                ]
+            ],
+            [
+                [
+                    0.2002798010218566
+                ]
+            ],
+            [
+                [
+                    0.20045029136984527
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.47387099191051835
+                ]
+            ],
+            [
+                [
+                    0.48057282041514543
+                ]
+            ],
+            [
+                [
+                    0.47879461381034255
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.7894682814144734
+                ]
+            ],
+            [
+                [
+                    0.786806802907588
+                ]
+            ],
+            [
+                [
+                    0.7832081103784972
+                ]
+            ]
+        ]
+    }
+}
\ No newline at end of file
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/subtasks.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/subtasks.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f7ae0c70dbb0e65d6c9c3d488faf040a0fce74a7
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/subtasks.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7da91bdc16f230303ddfe0fb317d1639ca69c4f390caf5a20dcab56b170bce2
+size 71877
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/tasks.parquet b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/tasks.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..03a529c4e541fcd6bec97b464cc0a0de475f858d
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/tasks.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42dac1f41da616b0ee596a4ac9bb317f4924d98568c301908860905975154db3
+size 1783
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/v40_validation.json b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..31b32e233aea0d38c584eb7561b848bccb19f62a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 40,
+  "frames": 66777,
+  "video_frames": {
+    "observation.images.head_left": 66777,
+    "observation.images.wrist_left": 66777,
+    "observation.images.wrist_right": 66777,
+    "observation.images.head_right": 66777,
+    "observation.images.tactile_deform": 66777,
+    "observation.images.tactile_raw": 66777
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 40
+}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-000.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8847b09cdc9cdeaf8e02636f8f7da4afd5f0d7db
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17386446fa1f622baf2ed06a537a502f1dc9e9bc11ddc9dc7b249ab26545035f
+size 200426796
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-001.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b8c8091f7aabd41dc7fbf83ecb97429cebb9a08d
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fbd047cb0e8ec7f746180846c4f495be3f3baf2ee9fa2c038394e3da973ebd7
+size 97899239
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-000.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3b9c1462d297c0afdf39270475ab28b755c87ef7
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d33aa9b69811ed428f03d469b37d169fe139e95e6f1f841c06552a249351347a
+size 207117180
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-001.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f8124c6caa6aefb173e197fcb0715376f498904
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a463ab33f50f4e867f9014ab00a9844a02547b2163f929ecede6b30e2b0c832e
+size 83102159
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/videos/observation.images.tactile_deform/chunk-000/file-000.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/videos/observation.images.tactile_deform/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f239fd02444fad4a81e4a025a93b98cc4a26e8c6
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/videos/observation.images.tactile_deform/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d45d97d698ba254a3c708a50eeb1b92da0bc2657b07e6d6743559d1917bfbe09
+size 14219871
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-000.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1220c02177a3fb657ac3c67641ecbf79935f58f7
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a43e23e678920d3164fccbca22324d0abb4d990674b1605873aae9e251a70bac
+size 156096748
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-001.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0ea9c9cadab4f3dd30a3151a7c1de0d9da0bfb10
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_15_39_59_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c825c397132364eaf3537455aea01d480e07bffbb15ef6de92750c9b94ad8330
+size 73195522